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Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds

Xu, Xiangru and Waters, Thomas and Pickem, Daniel and Glotfelter, Paul and Egerstedt, Magnus and Tabuada, Paulo and Grizzle, Jessy W. and Ames, Aaron D. (2017) Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds. In: 2017 IEEE Conference on Control Technology and Applications. IEEE , Piscataway, NJ, pp. 1769-1775. ISBN 978-1-5090-2182-6. http://resolver.caltech.edu/CaltechAUTHORS:20171013-090026063

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Abstract

This paper presents experimental results on novel robot testbeds that allow the evaluation of the simultaneous implementation of adaptive speed regulation and lane keeping in a safe, education-centric, and inexpensive manner. The underlying algorithms are based on a control Lyapunov function for performance, a control barrier function for safety, and a realtime quadratic program for mediating the conflicting demands of performance and safety. The Robotarium used for this work allows students, as well as researchers less experienced with hardware, to experiment with advanced control concepts in a safe and standardized environment.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/CCTA.2017.8062713DOIArticle
http://ieeexplore.ieee.org/document/8062713/PublisherArticle
ORCID:
AuthorORCID
Tabuada, Paulo0000-0002-3417-0951
Additional Information:© 2017 IEEE. This work is supported by NSF grants CNS-1239037, CNS-1239055 and CNS-1544332.
Funders:
Funding AgencyGrant Number
NSFCNS-1239037
NSFCNS-1239055
NSFCNS-1544332
Record Number:CaltechAUTHORS:20171013-090026063
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:20171013-090026063
Official Citation:X. Xu et al., "Realizing simultaneous lane keeping and adaptive speed regulation on accessible mobile robot testbeds," 2017 IEEE Conference on Control Technology and Applications (CCTA), Mauna Lani Resort, HI, USA, 2017, pp. 1769-1775. doi: 10.1109/CCTA.2017.8062713 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8062713&isnumber=8062426
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:82338
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:17 Oct 2017 21:56
Last Modified:22 Jan 2018 16:33

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