Feedback control framework for car-like robots using the unicycle controllers

  • Authors:

  • Maciej Michałek;Krzysztof Kozłowski

  • Affiliations:

  • Chair of control and systems engineering, poznan university of technology (put), piotrowo 3a, 60-965 poznań, poland;Chair of control and systems engineering, poznan university of technology (put), piotrowo 3a, 60-965 poznań, poland

  • Venue:
  • Robotica
  • Year:
  • 2012

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Abstract

The paper introduces a novel general feedback control framework, which allows applying the motion controllers originally dedicated for the unicycle model to the motion task realization for the car-like kinematics. The concept is formulated for two practically meaningful motorizations: with a front-wheel driven and with a rear-wheel driven. All the three possible steering angle domains for car-like robots-limited and unlimited ones-are treated. Description of the method is complemented by the formal stability analysis of the closed-loop error dynamics. The effectiveness of the method and its limitations have been illustrated by numerous simulations conducted for the three main control tasks, namely, for trajectory tracking, path following, and set-point regulation.