TAILIEUCHUNG - Feedback Control of a Nonholonomic Car-Like Robot

The car-sharing concept originated in Switzerland in 1987, and one of the largest car-sharing opera- tions in the world is still run by Mobility Switzerland, in close partnership with the Swiss Federal Railway. It runs a fleet of 1,650 cars in more than 930 locations, and has enrolled more than 58,000 members. As well as its size, the Swiss program has enjoyed enormous success in influencing travel behavior. Surveys show that members who gave up their car after joining the car-sharing program increased their transit usage by 35%, from 3,560 miles per year to 4,810 miles per year. Walking and cycling. | Feedback Control of a Nonholonomic Car-like Robot A. De Luca G. Oriolo C. Samson This is the fourth chapter of the book Robot Motion Planning and Control Jean-Paul Laumond Editor Laboratoire d Analye et d Architecture des Systèmes Centre National de la Recherche Scientihque LAAS report 97438 Previoulsy published as Lectures Notes in Control and Information Sciences 229. Springer ISBN 3-540-76219-1 1998 343p. Feedback Control of a Nonholonomic Car-Like Robot A. De Luca1 G. Oriolo1 and C. Samson2 1 Università di Roma La Sapienza 2 INRIA Sophia-Antipolis 1 Introduction The subject of this chapter is the control problem for nonholonomic wheeled mobile robots moving on the plane and in particular the use of feedback techniques for achieving a given motion task. In automatic control feedback improves system performance by allowing the successful completion of a task even in the presence of external disturbances and or initial errors. To this end real-time sensor measurements are used to reconstruct the robot state. Throughout this study the latter is assumed to be available at every instant as provided by proprioceptive . odometry or exteroceptive sonar laser sensors. We will limit our analysis to the case of a robot workspace free of obstacles. In fact we implicitly consider the robot controller to be embedded in a hierarchical architecture in which a higher-level planner solves the obstacle avoidance problem and provides a series of motion goals to the lower control layer. In this perspective the controller deals with the basic issue of converting ideal plans into actual motion execution. Wherever appropriate we shall highlight the interactions between feedback control and motion planning primitives such as the generation of open-loop commands and the availability of a feasible smooth path joining the current robot position to the destination. The specific robotic system considered is a vehicle whose kinematic model approximates the mobility of a car. The .

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