Sensor-based control of nonholonomic mobile robots
نویسندگان
چکیده
The problem of tracking a moving target with a nonholonomic mobile robot, by using sensor-based control techniques, is addressed. Two control design methods, relying on the transverse function approach, are proposed. For the first method, sensory signals are used to calculate an estimate of the relative pose of the robot with respect to the target. This estimate is then used for the calculation of control laws expressed in Cartesian coordinates. An analysis of stability and robustness w.r.t. pose estimation errors is presented. The second method consists in designing the control law directly in the space of sensor signals. Both methods are simulated, with various choices of the control parameters, for a unicycle-type mobile robot equipped with a camera. Finally, experimental results are also reported. Key-words: nonholonomic system, target tracking, sensor-based control, transverse function Commande référencée capteur des robots non-holonomes Résumé : Nous considérons le problème de suivi d’une cible mobile avec un robot mobile non-holonome, via des techniques de commande référencée capteurs. Deux méthodes de synthèse de lois de commande, basées sur l’approche par fonctions transverses, sont proposées. Pour la première méthode, les données capteurs sont d’abord utilisées pour la reconstruction d’une estimée de la pose du robot par rapport à la cible. Cette estimée est ensuite utilisée pour le calcul de boucles de commande exprimées en coordonnées cartésiennes. Une analyse de stabilité et de robustesse par rapport aux erreurs d’estimation de la pose du robot est proposée. La deuxième méthode consiste à synthétiser directement la loi de commande dans l’espace des signaux capteur. Les deux méthodes sont testées en simulation, avec divers choix des paramètres de commande, pour un véhicule de type unicycle equippé d’une caméra embarquée. Enfin, des résultats expérimentaux sont présentés. Mots-clés : système non-holonome, suivi de cible, commande référencée capteur, fonction transverse Sensor-based control of nonholonomic mobile robots 3
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