Path following using dynamic transverse feedback linearization for car-like robots
| dc.contributor.author | Akhtar, Adeel | |
| dc.contributor.author | Nielsen, Christopher | |
| dc.contributor.author | Waslander, Steven L. | |
| dc.date.accessioned | 2021-09-23T13:34:15Z | |
| dc.date.available | 2021-09-23T13:34:15Z | |
| dc.date.issued | 2015-02-16 | |
| dc.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 | en |
| dc.description.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. | en |
| dc.description.sponsorship | Partially supported by the Natural Sciences and Engineering Research Council of Canada (NSERC) | en |
| dc.identifier.uri | https://doi.org/10.1109/TRO.2015.2395711 | |
| dc.identifier.uri | http://hdl.handle.net/10012/17493 | |
| dc.language.iso | en | en |
| dc.publisher | IEEE | en |
| dc.relation.ispartofseries | IEEE Transactions on Robotics; | |
| dc.subject | Vectors | en |
| dc.subject | Manifolds | en |
| dc.subject | Polynomials | en |
| dc.subject | Robot kinematics | en |
| dc.subject | Approximation methods | en |
| dc.subject | Kinematics | en |
| dc.title | Path following using dynamic transverse feedback linearization for car-like robots | en |
| dc.type | Article | en |
| dcterms.bibliographicCitation | 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 | en |
| uws.contributor.affiliation1 | Faculty of Engineering | en |
| uws.contributor.affiliation2 | Electrical and Computer Engineering | en |
| uws.peerReviewStatus | Reviewed | en |
| uws.scholarLevel | Faculty | en |
| uws.typeOfResource | Text | en |