Experimental results for a nonholonomic mobile robot controller enforcing linear equivalence asymptotically

D. Buccieri, D. Perritaz, Ph Mullhaupt, Zhong-Ping Jiang, D. Bonvin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A novel control methodology for a nonholonomic mobile robot is proposed. The methodology uses a two-dimensional state extension and enforces linear equivalence asymptotically. The originality lies in the treatment of singularity. Real-time experiments carried on an autonomous mobile robot called Fouzy III illustrates and justifies the approach.

Original languageEnglish (US)
Title of host publication2006 1st IEEE Conference on Industrial Electronics and Applications
DOIs
StatePublished - 2006
Event2006 1st IEEE Conference on Industrial Electronics and Applications, ICIEA 2006 - Singapore, Singapore
Duration: May 24 2006May 26 2006

Other

Other2006 1st IEEE Conference on Industrial Electronics and Applications, ICIEA 2006
CountrySingapore
CitySingapore
Period5/24/065/26/06

Fingerprint

Mobile robots
Controllers
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Buccieri, D., Perritaz, D., Mullhaupt, P., Jiang, Z-P., & Bonvin, D. (2006). Experimental results for a nonholonomic mobile robot controller enforcing linear equivalence asymptotically. In 2006 1st IEEE Conference on Industrial Electronics and Applications [4025834] https://doi.org/10.1109/ICIEA.2006.257233

Experimental results for a nonholonomic mobile robot controller enforcing linear equivalence asymptotically. / Buccieri, D.; Perritaz, D.; Mullhaupt, Ph; Jiang, Zhong-Ping; Bonvin, D.

2006 1st IEEE Conference on Industrial Electronics and Applications. 2006. 4025834.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Buccieri, D, Perritaz, D, Mullhaupt, P, Jiang, Z-P & Bonvin, D 2006, Experimental results for a nonholonomic mobile robot controller enforcing linear equivalence asymptotically. in 2006 1st IEEE Conference on Industrial Electronics and Applications., 4025834, 2006 1st IEEE Conference on Industrial Electronics and Applications, ICIEA 2006, Singapore, Singapore, 5/24/06. https://doi.org/10.1109/ICIEA.2006.257233
Buccieri D, Perritaz D, Mullhaupt P, Jiang Z-P, Bonvin D. Experimental results for a nonholonomic mobile robot controller enforcing linear equivalence asymptotically. In 2006 1st IEEE Conference on Industrial Electronics and Applications. 2006. 4025834 https://doi.org/10.1109/ICIEA.2006.257233
Buccieri, D. ; Perritaz, D. ; Mullhaupt, Ph ; Jiang, Zhong-Ping ; Bonvin, D. / Experimental results for a nonholonomic mobile robot controller enforcing linear equivalence asymptotically. 2006 1st IEEE Conference on Industrial Electronics and Applications. 2006.
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