Path following using dynamic transverse feedback linearization for car-like robots
Abstract
This paper presents an approach for designing path
following controllers for the kinematic model of car-like mobile
robots using transverse feedback linearization with dynamic
extension. This approach is applicable to a large class of
paths and its effectiveness is experimentally demonstrated on a
Chameleon R100 Ackermann steering robot. Transverse feedback
linearization makes the desired path attractive and invariant
while the dynamic extension allows the closed-loop system to
achieve the desired motion along the path.
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Cite this version of the work
Adeel Akhtar, Christopher Nielsen, Steven L. Waslander
(2015).
Path following using dynamic transverse feedback linearization for car-like robots. UWSpace.
http://hdl.handle.net/10012/17493
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