Path following using dynamic transverse feedback linearization for car-like robots
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Date
2015-02-16
Authors
Akhtar, Adeel
Nielsen, Christopher
Waslander, Steven L.
Journal Title
Journal ISSN
Volume Title
Publisher
IEEE
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.
Description
Akhtar, A., Nielsen, C., & Waslander, S. L. (2015). Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots. IEEE Transactions on Robotics, 31(2), 269–279. https://doi.org/10.1109/TRO.2015.2395711
Keywords
Vectors, Manifolds, Polynomials, Robot kinematics, Approximation methods, Kinematics