Real time control of a simple nonholonomic mobile robot

• Autorzy: Szulczyński P. , Kozłowski K.
• Języki publikacji: EN

Abstrakty

EN

The objective of this present paper is to implement and verify the control algorithm for a vehicle with nonholonomic constraint proposed by Morin and Samson [6] on a small mobile robot. This implementation provides real time control which permits to do some research work. To achieve this aim operating system RATAI Linux was chosen as a real time operating system. An object of research was the 2-whccled mobile robot "Mini Tracker 2p" which construction is described in [4] The whole project was designed that it would be easy to add and verify other control algorithms in future.

Słowa kluczowe

EN

mobile robot; nonholonomic; real time control; practical stabilization; chain systems

• Wydawca: Wydawnictwo Politechniki Poznańskiej
• Czasopismo: Foundations of Control and Management Sciences
• Rocznik: 2006
• Tom: No. 5
• Strony: 59--72
• Opis fizyczny: Bibliogr. 6 poz.

Twórcy

autor

Szulczyński P.

autor

Kozłowski K.

• Ph.D. Student in Chair of Control and Systems Engineering, Faculty of Computing Science and Management

Bibliografia

• [1]Bianchi E., Dozio L., Mantegazza P., A Hard Real Time support for LINUX, Dipartimento di Ingegneria Aerospaziale Politecnico di Milano, Documents/RTAI Manual.pdf, http://www.aero.polimi.it/~rtai/.
• [2]Brockett R. W., Asymptotic stability and feedback stabilization [in:] R. S. Millman, R. W. Brockett, H. H. Sussmann (eds), Differential Geometric Control Theory, Birkauser 1983, pp. 181-191.
• [3]Dixon W.E., Dawson D.M., Zergeroglu E., Zhang F., Robust tracking and regulation for mobile robots, International Journal of Robust and Nonlinear Control, 2000, pp. 10:199-216.
• [4]Dobroczyński D., Dutkiewicz P., Jedwabny T., Kozłowski K., Majchrzak J., Niwczyk G., Design and software for mini mobile robot [in:] Proc. of XIIIth National Conference of Automation, Vol. 2, 1999, pp. 395-398 (in Polish).
• [5]Morin P., Samson C., Feedback control of nonholonomic wheeled vehicles, Proc. Archives of Control Sciences Volume 12(XLVIII), No. 1-2, 2002, pp. 7-36.
• [6]Morin P., Samson C., Practical stabilization of a class of nonlinear systems. Application to chain systens and mobile robots [in:] Proc. IEEE Conf. on Decision and Control, 2000, pp. 2989-2994.