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Full-Text Articles in Engineering
Experimental Validation Of An Autonomous Control System On A Mobile Robot Platform, Timothy Mclain, Randall W. Beard, Wei Ran, J.-S. Sun
Experimental Validation Of An Autonomous Control System On A Mobile Robot Platform, Timothy Mclain, Randall W. Beard, Wei Ran, J.-S. Sun
Faculty Publications
An autonomous control system designed for a non-holonomic wheeled mobile robot that is programmed to emulate a fixed-wing unmanned air vehicle (UAV) flying at constant altitude is experimentally validated. The overall system is capable of waypoint navigation, threat avoidance, real-time trajectory generation and trajectory tracking. Both the wheeled mobile robot experimental platform and the hierarchical autonomous control software architecture are introduced. Programmed to emulate a fixed-wing UAV flying at constant altitude, a non-holonomic mobile robot is assigned to follow a desired time-parameterised trajectory generated by a real-time trajectory generator to transition through a sequence of targets in the presence of …
Experimental Nonlinear Tracking Control For Nonholonomic Mobile Robots With Input Constraints, Timothy Mclain, Randal W. Beard, Wei Ren, Ji-Sang Sun
Experimental Nonlinear Tracking Control For Nonholonomic Mobile Robots With Input Constraints, Timothy Mclain, Randal W. Beard, Wei Ren, Ji-Sang Sun
Faculty Publications
This paper presents experimental results of nonlinear trajectory tracking controllers for nonholonomic mobile robots with fixed-wing UAV-like input constraints. Programmed to emulate an unmanned air vehicle flying at constant altitude, a nonholonomic mobile robot is assigned to follow a desired trajectory to transition through a sequence of targets in the presence of static and dynamic threats. Two velocity controllers with input constraints are proposed for tracking control. Hardware results using these two velocity controllers are compared to simulation results of dynamic controllers based on nonsmooth backstepping to demonstrate the effectiveness of our approach.