نتایج جستجو برای: nonholonomic constraints

تعداد نتایج: 186420  

Journal: :Fuzzy Sets and Systems 2003
Federico Cuesta Aníbal Ollero Begoña C. Arrue Reinhard Braunstingl

This paper is focused on the intelligent control of vehicles with nonholonomic constraints. A new method to compute a fuzzy perception of the environment is presented, dealing with the uncertainties and imprecisions from the sensorial system and taking into account nonholonomic constraints of the vehicle. This fuzzy perception is used, both in the design of each reactive behavior and solving th...

Journal: :IEICE Transactions 2011
Alireza Dirafzoon Mohammad Bagher Menhaj Ahmad Afshar

In this paper, we study the decentralized coverage control problem for an environment using a group of autonomous mobile robots with nonholonomic kinematic and dynamic constraints. In comparison with standard coverage control procedures, we develop a combined controller for Voronoi-based coverage approach in which kinematic and dynamic constraints of the actual mobile sensing robots are incorpo...

2010
MÓNICA MOLINA-BECERRA EMILIO FREIRE

We obtain the equations of motion for a Lagrangian dynamical system under nonholonomic constraints making use of the D’Alembert principle. We show that the Lagrange multipliers can be expressed in terms of the Poisson bracket of the Hamiltonian and the constraint. This appealing result greatly simplifies the derivation of the equations of motion. The existence of at least two conserved quantiti...

2002
Tim D. Barfoot Christopher M. Clark Stephen M. Rock Gabriele M. T. D'Eleuterio

A method of planning paths for formations of mobile robots with nonholonomic constraints is presented. The kinematics equations presented in this paper allow a general geometrical formation of mobile robots to be maintained while the group as a whole travels an arbitrary path. It is possible to represent a formation of mobile robots by a single entity with the same type of nonholonomic constrai...

Journal: :Automatica 2008
Zhijun Li Shuzhi Sam Ge Martin David Adams W. Sardha Wijesoma

In this paper, force/motion tracking control is investigated for nonholonomic mobile manipulators with unknown parameters and disturbances under uncertain holonomic constraints. The nonholonomic mobile manipulator is transformed into a reduced chained form, and then, robust adaptive force/motion control with hybrid variable signals is proposed to compensate for parametric uncertainties and supp...

2013
Firdaus E. Udwadia Thanapat Wanichanon FIRDAUS E. UDWADIA THANAPAT WANICHANON

This paper develops a new, simple, general, and explicit form of the equations of motion for general constrained mechanical systems that can have holonomic and/or nonholonomic constraints that may or may not be ideal, and that may contain either positive semi-definite or positive definite mass matrices. This is done through the replacement of the actual unconstrained mechanical system, which ma...

Journal: :J. Field Robotics 1998
Herbert G. Tanner Kostas J. Kyriakopoulos Nikos J. Krikelis

The dynamic equations of motion for a system of multiple mobile manipulators carrying a common deformable object are developed. The derived centralized model is based on Kane’s approach to dynamics. The imposed kinematic nonholonomic constraints are included and incorporated into the dynamics. It is pointed out, however, that these kinematic constraints are only necessary, and they only become ...

Journal: :IEEE Control Systems Letters 2022

We address the open problem of consensus-based formation control nonholonomic multiagent vehicles with pre-imposed input constraints. That is stabilizing a group second-order differential-drive robots, making them acquire determined pattern around non pre-specified point on plane and common orientation. This also known as leaderless full consensus. Our controller smooth time-varying, fully dist...

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