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

D. Buccieri; D. Perritaz; Ph Mullhaupt; Z. P. Jiang; D. Bonvin

doi:10.1109/ICIEA.2006.257233

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

D. Buccieri, D. Perritaz, Ph Mullhaupt, Z. P. Jiang, D. Bonvin

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	2006 1st IEEE Conference on Industrial Electronics and Applications
DOIs	https://doi.org/10.1109/ICIEA.2006.257233
State	Published - 2006
Event	2006 1st IEEE Conference on Industrial Electronics and Applications, ICIEA 2006 - Singapore, Singapore Duration: May 24 2006 → May 26 2006

Publication series

Name	2006 1st IEEE Conference on Industrial Electronics and Applications

Other

Other	2006 1st IEEE Conference on Industrial Electronics and Applications, ICIEA 2006
Country/Territory	Singapore
City	Singapore
Period	5/24/06 → 5/26/06

ASJC Scopus subject areas

Electrical and Electronic Engineering
Industrial and Manufacturing Engineering

Access to Document

10.1109/ICIEA.2006.257233

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 Article 4025834 (2006 1st IEEE Conference on Industrial Electronics and Applications). 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 et al.
2006 1st IEEE Conference on Industrial Electronics and Applications. 2006. 4025834 (2006 1st IEEE Conference on Industrial Electronics and Applications).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Buccieri, D, Perritaz, D, Mullhaupt, P, Jiang, ZP & 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, 2006 1st IEEE Conference on Industrial Electronics and Applications, ICIEA 2006, Singapore, Singapore, 5/24/06. https://doi.org/10.1109/ICIEA.2006.257233

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author = "D. Buccieri and D. Perritaz and Ph Mullhaupt and Jiang, {Z. P.} and D. Bonvin",

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

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