Chained formulation of 3D path following for nonholonomic autonomous robots in a Serret-Frenet frame
| Affiliation auteurs | !!!! Error affiliation !!!! |
| Titre | Chained formulation of 3D path following for nonholonomic autonomous robots in a Serret-Frenet frame |
| Type de publication | Conference Paper |
| Year of Publication | 2016 |
| Auteurs | Oulmas A, Andreff N, Regnier S |
| Conference Name | 2016 AMERICAN CONTROL CONFERENCE (ACC) |
| Publisher | Amer Automat Control Council |
| Conference Location | 345 E 47TH ST, NEW YORK, NY 10017 USA |
| ISBN Number | 978-1-4673-8682-1 |
| Résumé | The problem of 3D path following of nonholonomic systems in closed-loop is addressed. The kinematic model in a local coordinate system using a Serret-Frenet frame with sideslip and attack angles is used to express the motion of the robot. A new derivation of the chained form with five states and three inputs is developed to linearize the kinematic model of the robot in order to design a decoupled stable controller. The 3D path following is validated experimentally using a magnetic helical swimmer with visual servo control by following first a helix trajectory then an inclined sinusoidal trajectory. The results show the accuracy and robustness of the controller. |