Formation control for car-like mobile robots using front-wheel driving and steering
To solve the problem of front wheels being jammed due to the passive trajectory tracking of the conventional car-like robot in the leader–follower formation control, we propose a novel car-like robot with the integration of front-wheel driving and steering. We establish its kinematic model, then ana...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2018-05-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881418778228 |
| _version_ | 1818495114589241344 |
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| author | Haojie Chen Hong’an Yang Xu Wang Ting Zhang |
| author_facet | Haojie Chen Hong’an Yang Xu Wang Ting Zhang |
| author_sort | Haojie Chen |
| collection | DOAJ |
| description | To solve the problem of front wheels being jammed due to the passive trajectory tracking of the conventional car-like robot in the leader–follower formation control, we propose a novel car-like robot with the integration of front-wheel driving and steering. We establish its kinematic model, then analyze its controllability via the method of chained form system, and design the trajectory-tracking controller via the backstepping method. Simulations and experimental results validate our algorithm. This novel car-like robot with the integration of front-wheel driving and steering system not only avoids the jamming in the formation motion, but also owes the advantages of compacter structure, lighter body, and lower energy consumption. |
| first_indexed | 2024-12-10T18:16:02Z |
| format | Article |
| id | doaj.art-19c5c195fc62418fbe710f43c9e5223b |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-10T18:16:02Z |
| publishDate | 2018-05-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-19c5c195fc62418fbe710f43c9e5223b2022-12-22T01:38:19ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142018-05-011510.1177/1729881418778228Formation control for car-like mobile robots using front-wheel driving and steeringHaojie Chen0Hong’an Yang1Xu Wang2Ting Zhang3 School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an, China School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an, China School of Mechanical Engineering, Northwestern Polytechnical University, Xi’an, China Hytera Communications Corporation Limited, Shenzhen, ChinaTo solve the problem of front wheels being jammed due to the passive trajectory tracking of the conventional car-like robot in the leader–follower formation control, we propose a novel car-like robot with the integration of front-wheel driving and steering. We establish its kinematic model, then analyze its controllability via the method of chained form system, and design the trajectory-tracking controller via the backstepping method. Simulations and experimental results validate our algorithm. This novel car-like robot with the integration of front-wheel driving and steering system not only avoids the jamming in the formation motion, but also owes the advantages of compacter structure, lighter body, and lower energy consumption.https://doi.org/10.1177/1729881418778228 |
| spellingShingle | Haojie Chen Hong’an Yang Xu Wang Ting Zhang Formation control for car-like mobile robots using front-wheel driving and steering International Journal of Advanced Robotic Systems |
| title | Formation control for car-like mobile robots using front-wheel driving and steering |
| title_full | Formation control for car-like mobile robots using front-wheel driving and steering |
| title_fullStr | Formation control for car-like mobile robots using front-wheel driving and steering |
| title_full_unstemmed | Formation control for car-like mobile robots using front-wheel driving and steering |
| title_short | Formation control for car-like mobile robots using front-wheel driving and steering |
| title_sort | formation control for car like mobile robots using front wheel driving and steering |
| url | https://doi.org/10.1177/1729881418778228 |
| work_keys_str_mv | AT haojiechen formationcontrolforcarlikemobilerobotsusingfrontwheeldrivingandsteering AT honganyang formationcontrolforcarlikemobilerobotsusingfrontwheeldrivingandsteering AT xuwang formationcontrolforcarlikemobilerobotsusingfrontwheeldrivingandsteering AT tingzhang formationcontrolforcarlikemobilerobotsusingfrontwheeldrivingandsteering |