Steering angle saturation analysis in PGR under feedback gain switching strategy for car-like robots

This work analyzes the influence of steering angle saturation to the convergent property in the Path-generating Regulator (PGR) under the feedback gain switching strategy for car-like robots. The PGR control method carries out asymptotic convergence to a given path function group. It has been extend...

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Autores principales:	Jun DAI, Naohiko HANAJIMA, Toshiharu KAZAMA, Akihiko TAKASHIMA
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2014
Materias:	convergent property steering angle saturation pgr feedback gain switching car like robots Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/6981bfe2672e46c19ab3d1cf79dfec00
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spelling	oai:doaj.org-article:6981bfe2672e46c19ab3d1cf79dfec002021-11-26T06:09:52ZSteering angle saturation analysis in PGR under feedback gain switching strategy for car-like robots2187-974510.1299/mej.2014dr0037https://doaj.org/article/6981bfe2672e46c19ab3d1cf79dfec002014-08-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/1/4/1_2014dr0037/_pdf/-char/enhttps://doaj.org/toc/2187-9745This work analyzes the influence of steering angle saturation to the convergent property in the Path-generating Regulator (PGR) under the feedback gain switching strategy for car-like robots. The PGR control method carries out asymptotic convergence to a given path function group. It has been extended to car-like robots, and its convergent region has been expanded by the feedback gain switching strategy. However, under this strategy, when the robot restarts after the feedback gain switches, the command of the steering angle tends to be close to ±π/2 rad, which might exceed the maximum steering angle. This phenomenon causes steering angle saturation. The robot then drives along the minimum turning circle. In this paper, the convergent property of the robot under steering angle saturation is investigated first. Results show that the convergent property is related strongly to the number of singular points, which depends on the center location of the minimum turning circle. Then the convergent properties at different locations are clarified through region division. Moreover, an extended feedback gain switching strategy method is proposed to change the convergent property in the specific region. Based on simulation and experiment results, we summarize the convergent property related to the region and verify the proposed method.Jun DAINaohiko HANAJIMAToshiharu KAZAMAAkihiko TAKASHIMAThe Japan Society of Mechanical Engineersarticleconvergent propertysteering angle saturationpgrfeedback gain switchingcar like robotsMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 1, Iss 4, Pp DR0037-DR0037 (2014)
institution	DOAJ
collection	DOAJ
language	EN
topic	convergent property steering angle saturation pgr feedback gain switching car like robots Mechanical engineering and machinery TJ1-1570
spellingShingle	convergent property steering angle saturation pgr feedback gain switching car like robots Mechanical engineering and machinery TJ1-1570 Jun DAI Naohiko HANAJIMA Toshiharu KAZAMA Akihiko TAKASHIMA Steering angle saturation analysis in PGR under feedback gain switching strategy for car-like robots
description	This work analyzes the influence of steering angle saturation to the convergent property in the Path-generating Regulator (PGR) under the feedback gain switching strategy for car-like robots. The PGR control method carries out asymptotic convergence to a given path function group. It has been extended to car-like robots, and its convergent region has been expanded by the feedback gain switching strategy. However, under this strategy, when the robot restarts after the feedback gain switches, the command of the steering angle tends to be close to ±π/2 rad, which might exceed the maximum steering angle. This phenomenon causes steering angle saturation. The robot then drives along the minimum turning circle. In this paper, the convergent property of the robot under steering angle saturation is investigated first. Results show that the convergent property is related strongly to the number of singular points, which depends on the center location of the minimum turning circle. Then the convergent properties at different locations are clarified through region division. Moreover, an extended feedback gain switching strategy method is proposed to change the convergent property in the specific region. Based on simulation and experiment results, we summarize the convergent property related to the region and verify the proposed method.
format	article
author	Jun DAI Naohiko HANAJIMA Toshiharu KAZAMA Akihiko TAKASHIMA
author_facet	Jun DAI Naohiko HANAJIMA Toshiharu KAZAMA Akihiko TAKASHIMA
author_sort	Jun DAI
title	Steering angle saturation analysis in PGR under feedback gain switching strategy for car-like robots
title_short	Steering angle saturation analysis in PGR under feedback gain switching strategy for car-like robots
title_full	Steering angle saturation analysis in PGR under feedback gain switching strategy for car-like robots
title_fullStr	Steering angle saturation analysis in PGR under feedback gain switching strategy for car-like robots
title_full_unstemmed	Steering angle saturation analysis in PGR under feedback gain switching strategy for car-like robots
title_sort	steering angle saturation analysis in pgr under feedback gain switching strategy for car-like robots
publisher	The Japan Society of Mechanical Engineers
publishDate	2014
url	https://doaj.org/article/6981bfe2672e46c19ab3d1cf79dfec00
work_keys_str_mv	AT jundai steeringanglesaturationanalysisinpgrunderfeedbackgainswitchingstrategyforcarlikerobots AT naohikohanajima steeringanglesaturationanalysisinpgrunderfeedbackgainswitchingstrategyforcarlikerobots AT toshiharukazama steeringanglesaturationanalysisinpgrunderfeedbackgainswitchingstrategyforcarlikerobots AT akihikotakashima steeringanglesaturationanalysisinpgrunderfeedbackgainswitchingstrategyforcarlikerobots
_version_	1718409781975187456

Steering angle saturation analysis in PGR under feedback gain switching strategy for car-like robots

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