Stabilization of Nonholonomic Wheeled Mobile Robots in Limited Space
Jin Shangzhong · Proceedings of the CSEE · 2007
This paper addresses the posture stabilization problem in limited space for nonholonomic Wheeled Mobile Robots(WMRs).Inspired by human driving,a new algorithm is introduced based on the control of the two velocity components along x and y axes in Cartesian space.We turn the robot until it runs in the direction of the ground road;when the distance criterion is met,we slow down the corresponding velocity component in power form.The two velocity components axe controlled respectively.Simulation results on narrow roads showed that,the trajectories converged to the expected posture in finite time starting from any point with this control algorithm.Furthermore,the length of trajectory was shorter than that of other schemes.So the proposed algorithm is more suitable for limited space applications.