Trajectory Tracking Using Artificial Potential Fields
In this paper, the trajectory tracking problem for carlike mobile robots have been studied. The system comprises of a leader and a follower robot. The purpose is to control the follower so that the leader-s trajectory is tracked with arbitrary desired clearance to avoid inter-robot collision while navigating in a terrain with obstacles. A set of artificial potential field functions is proposed using the Direct Method of Lyapunov for the avoidance of obstacles and attraction to their designated targets. Simulation results prove the efficiency of our control technique.
[1] Y.U. Cao, A.S. Fukunaga, and A.B. Kahng, "Cooperative Mobile
Robotics", Autonomous Robots,1997, vol 4, pp. 7-27.
[2] P. Morin and C. Samson, "Motion control of wheeled mobile robot," in
Springer Handbook of Robotics (B. Siciliano and O. Khatib, eds),
Springer Berlin Heidelberg, 2008, pp. 799-826.
[3] R. W. Brockett, "Differential Geometry Control Theory," chapter
Asymptotic Stability and Feedback Stabilisation, Springer-Verlag, 1983,
pp. 181-191.
[4] A. P. Aquiar, J. P. Hespanha, and P. V. Kokotovic, "Path-Following for
nonminimum phase systems removes performance limitations," IEEE
Transactions on Autonomous Control, 2005, 50(2): pp. 234-239.
[5] G. Klancar, and I. Skrjanc, "Tracking-error model based predictive
control for mobile robots in real time," Robotics and Autonomous
Systems, Elsevier, 2007, 55, pp. 460-469.
[6] Y. Kanayama, Y. Kimura, F. Miyazaki, T. Noguchi, "A stable tracking
control method for an autonomous mobile robot," In Proceedings 1990
IEEE International Conference on Robotics and Automation, Los
Alamitos, CA, USA, 1990, vol. 1, pp. 384-389.
[7] C. Samson, K. Ait-abderrahim, "Feedback control of a nonholonomic
wheeled cart in Cartesian space," In Proceedings of the 1991 IEEE
International Conference on Robotics and Automation, vol.
2,Sacramento, CA, 1991, pp. 1136-1141.
[8] C. Samson, "Time-varying feedback stabilization of car like wheeled
mobile robot," International Journal of Robotics Research, 1993, 12 (1),
pp. 55-64.
[9] G. Oriolo, A. De Luca, and M. Vendittelli, "Wmr control via dynamic
feedback linearization: Design, implementation and experimental
validation," IEEE Trans. Control Syst. Technol., 2002, 10(6), pp. 835-
852.
[10] Z.-P. Jiang, and H. Nijmeijer, "Tracking control of mobile robots: a case
study in backstepping," Automatica, 1997, 33 (7), pp. 1393-1399.
[11] G. Klančar, and I. Škrjanc, "Tracking-error model-based predictive
control for mobile robots in real time," Robotics and Autonomous
Systems, 2007, 55 (6), pp. 460-469.
[12] E.-H. Guechi, J. Lauber, M. Dambrine, G. Klan─ìar, S. Blaži─ì, "Control
design for non-holonomic wheeled mobile robots with delayed outputs,"
Journal of Intelligent& Robotic Systems, 2010, 60 (3), pp. 395-414.
[13] T.H.S. Li, S.J. Chang, "Autonomous fuzzy parking control of a car-like
mobile robot," IEEE Transactions on Systems, Man, and CyberneticsÔÇö
Part A: Systems and Humans, 2003, 33 (4), pp. 451-465.
[14] Z.-G. Hou, A.-M. Zou, L. Cheng, M. Tan, "Adaptive control of an
electrically driven nonholonomic mobile robot via backstepping and
fuzzy approach," IEEE Transactions on Control Systems Technology,
2009, 17 (4), pp. 803-815.
[15] R.E.Precup, and H. Hellendoorn, "A survey on industrial applications of
fuzzy control," Computers in Industry, 2011, 62(3), pp. 213 - 226.
[16] W. Sheng, Q. Yang, J. Tan, and N. Xi, "Distributed multi-robot
coordination in area exploration," Robotics and Autonomous Systems,
2006, vol 54, pp. 945-955.
[17] K. Raghuwaiya, S. Singh, and J. Vanualailai, "Formation Control of
Mobile Robots", In Proceedings of the ICCMSDE, WASET, Phuket,
Thailand, 2011, pp. 762-767.
[18] B. Sharma, "New Directions in the Applications of the Lyapunov-based
Control Scheme to the Find path Problem", PhD Dissertation,
Universityof the South Pacific, Fiji, July 2008.
[1] Y.U. Cao, A.S. Fukunaga, and A.B. Kahng, "Cooperative Mobile
Robotics", Autonomous Robots,1997, vol 4, pp. 7-27.
[2] P. Morin and C. Samson, "Motion control of wheeled mobile robot," in
Springer Handbook of Robotics (B. Siciliano and O. Khatib, eds),
Springer Berlin Heidelberg, 2008, pp. 799-826.
[3] R. W. Brockett, "Differential Geometry Control Theory," chapter
Asymptotic Stability and Feedback Stabilisation, Springer-Verlag, 1983,
pp. 181-191.
[4] A. P. Aquiar, J. P. Hespanha, and P. V. Kokotovic, "Path-Following for
nonminimum phase systems removes performance limitations," IEEE
Transactions on Autonomous Control, 2005, 50(2): pp. 234-239.
[5] G. Klancar, and I. Skrjanc, "Tracking-error model based predictive
control for mobile robots in real time," Robotics and Autonomous
Systems, Elsevier, 2007, 55, pp. 460-469.
[6] Y. Kanayama, Y. Kimura, F. Miyazaki, T. Noguchi, "A stable tracking
control method for an autonomous mobile robot," In Proceedings 1990
IEEE International Conference on Robotics and Automation, Los
Alamitos, CA, USA, 1990, vol. 1, pp. 384-389.
[7] C. Samson, K. Ait-abderrahim, "Feedback control of a nonholonomic
wheeled cart in Cartesian space," In Proceedings of the 1991 IEEE
International Conference on Robotics and Automation, vol.
2,Sacramento, CA, 1991, pp. 1136-1141.
[8] C. Samson, "Time-varying feedback stabilization of car like wheeled
mobile robot," International Journal of Robotics Research, 1993, 12 (1),
pp. 55-64.
[9] G. Oriolo, A. De Luca, and M. Vendittelli, "Wmr control via dynamic
feedback linearization: Design, implementation and experimental
validation," IEEE Trans. Control Syst. Technol., 2002, 10(6), pp. 835-
852.
[10] Z.-P. Jiang, and H. Nijmeijer, "Tracking control of mobile robots: a case
study in backstepping," Automatica, 1997, 33 (7), pp. 1393-1399.
[11] G. Klančar, and I. Škrjanc, "Tracking-error model-based predictive
control for mobile robots in real time," Robotics and Autonomous
Systems, 2007, 55 (6), pp. 460-469.
[12] E.-H. Guechi, J. Lauber, M. Dambrine, G. Klan─ìar, S. Blaži─ì, "Control
design for non-holonomic wheeled mobile robots with delayed outputs,"
Journal of Intelligent& Robotic Systems, 2010, 60 (3), pp. 395-414.
[13] T.H.S. Li, S.J. Chang, "Autonomous fuzzy parking control of a car-like
mobile robot," IEEE Transactions on Systems, Man, and CyberneticsÔÇö
Part A: Systems and Humans, 2003, 33 (4), pp. 451-465.
[14] Z.-G. Hou, A.-M. Zou, L. Cheng, M. Tan, "Adaptive control of an
electrically driven nonholonomic mobile robot via backstepping and
fuzzy approach," IEEE Transactions on Control Systems Technology,
2009, 17 (4), pp. 803-815.
[15] R.E.Precup, and H. Hellendoorn, "A survey on industrial applications of
fuzzy control," Computers in Industry, 2011, 62(3), pp. 213 - 226.
[16] W. Sheng, Q. Yang, J. Tan, and N. Xi, "Distributed multi-robot
coordination in area exploration," Robotics and Autonomous Systems,
2006, vol 54, pp. 945-955.
[17] K. Raghuwaiya, S. Singh, and J. Vanualailai, "Formation Control of
Mobile Robots", In Proceedings of the ICCMSDE, WASET, Phuket,
Thailand, 2011, pp. 762-767.
[18] B. Sharma, "New Directions in the Applications of the Lyapunov-based
Control Scheme to the Find path Problem", PhD Dissertation,
Universityof the South Pacific, Fiji, July 2008.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:62508", author = "Krishna S. Raghuwaiya and Shonal Singh and Jito Vanualailai", title = "Trajectory Tracking Using Artificial Potential Fields", abstract = "In this paper, the trajectory tracking problem for carlike mobile robots have been studied. The system comprises of a leader and a follower robot. The purpose is to control the follower so that the leader-s trajectory is tracked with arbitrary desired clearance to avoid inter-robot collision while navigating in a terrain with obstacles. A set of artificial potential field functions is proposed using the Direct Method of Lyapunov for the avoidance of obstacles and attraction to their designated targets. Simulation results prove the efficiency of our control technique.
", keywords = "Control, Trajectory Tracking, Lyapunov.", volume = "6", number = "12", pages = "2833-6", }
