Beacon-Based Feedback Control for Parking an Active-Joint Center-Articulated Mobile Robot
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arXiv
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| Hauptverfasser: | , |
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866916776049115136 |
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| author | Delrobaei, Mehdi McIsaac, Kenneth |
| author_facet | Delrobaei, Mehdi McIsaac, Kenneth |
| contents | This paper presents an autonomous parking control strategy for an active-joint center-articulated mobile robot. We first derive a kinematic model of the robot, then propose a control law to stabilize the vehicle's configuration within a small neighborhood of the goal. The control law, designed using Lyapunov techniques, is based on the robot's polar coordinate equations. A beacon-based guidance system provides feedback on the target's position and orientation. Simulations demonstrate the robot's ability to park successfully from arbitrary initial poses. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_14727 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Beacon-Based Feedback Control for Parking an Active-Joint Center-Articulated Mobile Robot Delrobaei, Mehdi McIsaac, Kenneth Robotics Systems and Control This paper presents an autonomous parking control strategy for an active-joint center-articulated mobile robot. We first derive a kinematic model of the robot, then propose a control law to stabilize the vehicle's configuration within a small neighborhood of the goal. The control law, designed using Lyapunov techniques, is based on the robot's polar coordinate equations. A beacon-based guidance system provides feedback on the target's position and orientation. Simulations demonstrate the robot's ability to park successfully from arbitrary initial poses. |
| title | Beacon-Based Feedback Control for Parking an Active-Joint Center-Articulated Mobile Robot |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2503.14727 |