mobile robot, control system


An autonomous control system designed for a non-holonomic wheeled mobile robot that is programmed to emulate a fixed-wing unmanned air vehicle (UAV) flying at constant altitude is experimentally validated. The overall system is capable of waypoint navigation, threat avoidance, real-time trajectory generation and trajectory tracking. Both the wheeled mobile robot experimental platform and the hierarchical autonomous control software architecture are introduced. Programmed to emulate a fixed-wing UAV flying at constant altitude, a non-holonomic mobile robot is assigned to follow a desired time-parameterised trajectory generated by a real-time trajectory generator to transition through a sequence of targets in the presence of static and popup threats. Hardware results of the autonomous control system where the trajectory tracker applies two velocity controllers accounting for fixed-wing UAV-like input constraints, are compared to simulation results of dynamic controllers that are based on non-smooth backstepping to demonstrate the effectiveness of the overall system.

Original Publication Citation

Ren, W., Sun, J., Beard R., and McLain, T. Experimental Validation of an Autonomous Control System on a Mobile Robot Platform, IET Proceedings on Control Theory and Applications, vol. 1, no. 6, pp. 1621-1629, November 2007.

Document Type

Peer-Reviewed Article

Publication Date


Permanent URL


Institution of Engineering and Technology




Ira A. Fulton College of Engineering and Technology


Mechanical Engineering

University Standing at Time of Publication

Associate Professor