机械 机器人 外文翻译 英文文献 一种实用的办法--带拖车移动机器人的反馈控制.doc

Proceedings ofthe 1998 IEEE
International Conference on Robotics & Automation
Leuven, Belgium May 1998
A practical approach to feedback control for a mobile robot with trailer
F. Lamiraux and . Laumond
RS
Toulouse, France
{florent ,jpl}***@
Abstract
This paper presents a robust method to control a mobile robot towing a trailer. Both problems of trajectory tracking and steering to a given configuration are addressed. This second issue is solved by an iterative trajectory tracking. Perturbations are taken into account along the motions. Experimental results on the mobile robot Hilare illustrate the validity of our approach.
1 Introduction
Motion control for nonholonomic systems have given rise to a lot of work for the past 8 years. Brockett’s condition [2] made stabilization about a given configuration a challenging task for such systems, proving that it could not be performed by a simple continuous state feedback. Alternative solutions as time-varying feedback [l0, 4, 11, 13, 14, 15, 18] or discontinuous feedback [3] have been then proposed. See [5] for a survey in mobile robot motion control. On the other hand, tracking a trajectory for a nonholonomic system does not meet Brockett’s condition and thus it is an easier task. A lot of work have also addressed this problem [6, 7, 8, 12, 16] for the particular case of mobile robots.
All these control laws work under the same assumption: the evolution of the system is exactly known and no perturbation makes the system deviate from its papers dealing with mobile robots control take into account perturbations in the kinematics
equations. [l] however proposed a method to stabilize a car about a configuration, robust to control vector fields perturbations, and based on iterative trajectory tracking.
The presence of obstacle makes the task of reaching a configuration even more difficult and require a path planning task before executing any motion.
In this paper, we propose a robust scheme