1003 障害物のある水平面上における二輪移動ロボットのリヤプノフ制御(OS-6 運動と振動の制御)

概要

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This paper deals with the feedback stabilization problem for a two wheeled mobile robot which moves in the presence of obstacles such as walls and pillars. We propose a method of designing a discontinuous feedback controller based on Lyapunov control. By the method, first, a positive-definite function (Lyapunov function) which is minimized at a desired point is set, and then, the control input is designed by multiplying the gradient vector of the Lyapunov function by a matrix that is composed of a symmetric matrix and a skew-symmetric matrix. Collision avoidance for the mobile robot is achieved by a suitable choice of the Lyapunov function according to the obstacles. The effectiveness of the designed controller has been verified by numerical simulations.
一般社団法人日本機械学会の論文
2004-03-17