Approximate Steering of a Unicycle Under Bounded Model Perturbation Using Ensemble Control



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IEEE Transactions on Robotics


This paper considers the problem of steering a nonholonomic unicycle despite model perturbation that scales both the forward speed and the turning rate by an unknown but bounded constant. We model the unicycle as an ensemble control system, show that this system is ensemble controllable, and derive an approximate steering algorithm that brings the unicycle to within an arbitrarily small neighborhood of any given Cartesian position. We apply our work to a differential-drive robot with unknown but bounded wheel radius and validate our approach with hardware experiments.



Robot sensing systems, Mobile robots, Approximation methods, Control systems, Vectors, Approximation algorithms, Ensemble control theory, Model perturbation, Nonholonomic motion planning


Copyright 2012 IEEE Transactions on Robotics. This is a post-print version of a published paper that is available at: Recommended citation: Becker, Aaron, and Timothy Bretl. "Approximate steering of a unicycle under bounded model perturbation using ensemble control." IEEE Transactions on Robotics 28, no. 3 (2012): 580-591. DOI: 10.1109/TRO.2011.2182117 This item has been deposited in accordance with publisher copyright and licensing terms and with the author’s permission.