Time Base Generatorを利用した非ホロノミック移動ロボットのフィードバック制御

概要

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The present paper proposes a new feedback control strategy of mobile robots with nonholonomic constraints. This method includes a function generator called a <I>Time Base Generator</I> (TBG) as a time varying feedback gain, and synchronizing linear and angular velocities of the mobile robot with a scalar variable generated by the TBG, the mobile robot can be positioned to the origin in the state space for any initial condition. The time behavior of the generated trajectory such as the velocity profile and the movement time from the initial position to the goal can be controlled through adjusting the parameters of the TBG without any change of the control law itself. In this paper, mechanism and stability of the proposed method are described using a particular type of the TBG with a bell shaped velocity profile and it is shown that the method can naturally generate straight and circular trajectories for certain initial conditions and provide a robust position control of the mobile robot for external disturbances.