Motion control for a wheeled robot following a curvilinear path

DOI10.1134/S1064230708060129zbMath1173.93363OpenAlexW1982225975WikidataQ56423236 ScholiaQ56423236MaRDI QIDQ734155

R. F. Gilimyanov, L. B. Rapoport, Alexander Pesterev

Publication date: 19 October 2009

Published in: Journal of Computer and Systems Sciences International (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1134/s1064230708060129

zbMATH Keywords

differential equationsfeedback linearizationwheeled robotcontrol synthesis problemsteering gear dynamics

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18) Synthesis problems (93B50) Artificial intelligence for robotics (68T40)

Related Items (9)

Canonical representation of a nonstationary path following problem ⋮ Coverage Path Planning for 3D Terrain with Constraints on Trajectory Curvature Based on Second-Order Cone Programming ⋮ Synthesis of a stabilizing feedback for a wheeled robot with constrained control resource ⋮ Synthesis of a stabilizing control for a wheeled robot following a curvilinear path ⋮ Ellipsoidal approximations of the attraction domain in the path following problem for a wheeled robot with constrained resource ⋮ Construction of the best ellipsoidal approximation of the attraction domain in stabilization problem for a wheeled robot ⋮ Recursive method of smoothing curvature of path in path planning problems for wheeled robots ⋮ A linearizing feedback for stabilizing a car-like robot following a curvilinear path ⋮ Construction of invariant ellipsoids in the stabilization problem for a wheeled robot following a curvilinear path

Cites Work

• Estimation of attraction domains in wheeled robot control
• Control of chained systems application to path following and time-varying point-stabilization of mobile robots
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