CaltechAUTHORS
Published August 2017 | Version public
Book Section - Chapter Metadata-only

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

Creators

  • 1. ROR icon University of Michigan–Ann Arbor
  • 2. ROR icon Georgia Institute of Technology
  • 3. ROR icon University of California, Los Angeles
  • 4. ROR icon California Institute of Technology

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.

Additional Information

© 2017 IEEE. This work is supported by NSF grants CNS-1239037, CNS-1239055 and CNS-1544332.

Additional details

Identifiers

Eprint ID
82338
Resolver ID
CaltechAUTHORS:20171013-090026063

Funding

NSF
CNS-1239037
NSF
CNS-1239055
NSF
CNS-1544332

Dates

Created
2017-10-17
Created from EPrint's datestamp field
Updated
2021-11-15
Created from EPrint's last_modified field