Nonlinear control of unicycle-like robots for person following
- 1 November 2013
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE) in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
- p. 3406-3411
- https://doi.org/10.1109/iros.2013.6696841
Abstract
This paper addresses the person following problem for nonholonomic wheeled robots. Because of the robot's nonholonomy and the difficulty to estimate the person orientation, classical control laws used to address this problem induce strong limitations on the desired robot location with respect to the person. We propose a new nonlinear control law that allows for much more versatility in this following application. Simulation and experimental results performed in real scenarios verify the effectiveness of the proposed approach.Keywords
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