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4륜 조향 이동로봇의 ICR 특이점 제거를 위한 기하학적 제어 기법
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- Issue Date
- 2026-07
- Citation
- 제어·로봇·시스템학회 학술 대회 (ICROS) 2026, pp.989-990
- Publisher
- 제어·로봇·시스템학회
- Language
- Korean
- Type
- Conference Paper
- Abstract
- This paper presents a singularity-free control framework for four-wheel steerable mobile robots. Conventional control methods rely on the instantaneous center of rotation (ICR), which becomes unbounded as angular velocity approaches zero, leading to discontinuous steering commands and numerical instability. Existing approaches address this issue at the control level through constraint handling, route switching, or optimization-based methods, resulting in increased complexity and sensitivity. In contrast, the proposed method eliminates the singularity at the representation level by introducing a bounded motion parameterization. Based on this formulation, a closed-form geometric control law is derived to directly generate steering and driving commands without requiring Jacobian inversion or optimization. Simulation results demonstrate that the proposed method provides smooth and continuous motion even in near-zero angular velocity conditions.
- Keyword
- Steerable Mobile Robot, ICR, Singularity-Free Control, Geometric Control, Four-Wheel Steering
- KSP Keywords
- Angular Velocity, Constraint Handling, Continuous motion, Control law, Conventional control, Existing Approaches, Four-Wheel Steering, Geometric control, Instantaneous center of rotation, Mobile robots, Optimization-based