Feedback Cotrol of Mobile Robots with Nonholonomic Constraints Using Time Base Generator.
نویسندگان
چکیده
منابع مشابه
Dynamic Path-Following Using Temporary Path Generator for Mobile Robots with Nonholonomic Constraints
The performance of dynamic path following of a wheeled mobile robot with nonholonomic constraints is highly affected by its initial states, because nonholonomically constrained system cannot guarantee the asymptotic stability for one equilibrium point of which errors and the time derivative of errors are zero. For this reason, the dynamic path following may yield poor performance with some init...
متن کاملVisual Feedback for Nonholonomic Mobile Robots: Homography Based Approach
The classical approach in visual servoing is the one of controlling some features evolution in the image space. No constraints on the system state evolution are taken into account. In the last years, the researchers start to cope with the problem of controlling nonholonomic systems like mobile robots and new approaches to visual servoing have been investigated. Mobile robots have to navigate in...
متن کاملFormation Compound Control for Nonholonomic Mobile Robots under Motion Constraints
The formation keeping characteristics for nonholonomic autonomous mobile robots are investigated in this paper. A novel approach of compound control is presented, which deals with the formation task based on two different algorithms: a flexible feedback linearization control algorithm and an optimal approximate target algorithm. And the algorithms are selected according to robot’s expected loca...
متن کاملSwitched visual servo control of nonholonomic mobile robots with field-of-view constraints based on homography
This paper presents a novel scheme for visual servoing of a nonholonomic mobile robot equipped with a monocular camera in consideration of field-of-view (FOV) constraints. In order to loosen the FOV constraints, the system states are expressed by the homography between the current frame and the key frame so that the target is not necessarily to be always visible in the control process. A switch...
متن کاملDynamic Feedback Tracking Control of Nonholonomic Mobile Robots with Unknown Camera Parameters
This paper investigated the tracking control of nonholonomic mobile robots with uncertainties. Nonholonomic kinematic systems with visual feedback are uncertain and more involved in comparison with common kinematic systems. Barbalat theorem and Lyapunov techniques were exploited to craft a dynamic feedback robust controller that enables the mobile robot configuration tracking despite the lack o...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1994
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.12.1072