scholarly journals Backward and forward path following control of a wheeled robot

2020 ◽  
Vol 14 (2) ◽  
pp. 35-45
Author(s):  
Ali Keymasi Khalaji ◽  
Abolfazl Yazdani ◽  
◽  
Keyword(s):  
Path Following ◽  
Forward Path ◽  
Path Following Control ◽  
Wheeled Robot

scholarly journals Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain

2014 ◽  
Vol 2014 ◽  
pp. 1-13 ◽  
Author(s):  
Liang Ding ◽  
Hai-bo Gao ◽  
Zong-quan Deng ◽  
Zhijun Li ◽  
Ke-rui Xia ◽  
...  
Keyword(s):  
High Performance ◽  
Path Following ◽  
Planetary Exploration ◽  
Rough Terrain ◽  
Good Precision ◽  
Planetary Rovers ◽  
Terrain Model ◽  
Look Ahead ◽  
Path Following Control ◽  
Wheeled Robot

The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method. A path-following strategy for wheeled planetary exploration robots incorporating slip compensation is designed. Simulation results of a four-wheeled robot on deformable rough terrain verify that it can be controlled to follow a planned path with good precision, despite the fact that the wheels will obviously skid and slip.

Path Following Control of Tractor-trailers with Off-axle Hitching

2010 ◽  
Vol 36 (9) ◽  
pp. 1272-1278 ◽  
Author(s):  
Huo-Feng ZHOU ◽  
Bao-Li MA ◽  
Li-Hui SONG ◽  
Fang-Fang ZHANG
Keyword(s):  
Path Following ◽  
Path Following Control

Research on Path Following Control Strategies for Lunar Rover under Loose Soil Terrains

2014 ◽  
Vol 7 (2) ◽  
pp. 119-127
Author(s):  
Tao Zhang ◽  
Cheng Shao ◽  
Pingshu Ge ◽  
Kun W. Yang
Keyword(s):  
Control Strategies ◽  
Path Following ◽  
Lunar Rover ◽  
Path Following Control ◽  
Loose Soil

scholarly journals A 3D Path Following Control Scheme for Robot Manipulators

2020 ◽  
Vol 53 (2) ◽  
pp. 9968-9973
Author(s):  
Yalun Wen ◽  
Prabhakar Pagilla
Keyword(s):  
Robot Manipulators ◽  
Path Following ◽  
Path Following Control ◽  
Control Scheme

scholarly journals Modified Vector Field Path-Following Control System for an Underactuated Autonomous Surface Ship Modelin the Presence of Static Obstacles

2021 ◽  
Vol 9 (6) ◽  
pp. 652
Author(s):  
Haitong Xu ◽  
Miguel A. Hinostroza ◽  
C. Guedes Guedes Soares
Keyword(s):  
Control System ◽  
Vector Field ◽  
Path Following ◽  
Field Method ◽  
Integrated System ◽  
Ship Model ◽  
Surface Ship ◽  
Path Following Control ◽  
Exponentially Stable ◽  
Vector Field Method

A modified path-following control system using the vector field method for an underactuated autonomous surface ship model is proposed in the presence of static obstacles. With this integrated system, autonomous ships are capable of following the predefined path, while avoiding the obstacles automatically. It is different from the methods in most published papers, which usually study path-following and obstacle collision avoidance, separately. This paper considers the coupled path following and collision avoidance task as a whole. Meanwhile, the paper also shows the heading control design method in the presence of static obstacles. To obtain a strong stability property, a nonlinear autopilot is designed based on the manoeuvring tests of the free-running ship model. The equilibrium point of the controller is globally exponentially stable. For the guidance system, a novel vector field method was proposed, and the proof shows the coupled guidance and control system is uniform semi-global exponentially stable (USGES). To prevent the obstacles near the predefined path, the proposed guidance law is augmented by integrating the repelling field of obstacles so that it can control the ship travel toward the predefined path through the obstacles safely. The repelling field function is given considering the obstacle shape and collision risk using the velocity obstacle (VO) algorithm. The simulations and ship model test were performed to validate the integrated system of autonomous ships.

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