Details

Title

Application of transverse functions to control differentially driven wheeled robots using velocity fields

Journal title

Bulletin of the Polish Academy of Sciences: Technical Sciences

Yearbook

2016

Numer

No 4 December

Publication authors

Divisions of PAS

Nauki Techniczne

Publisher

Polish Academy of Sciences

Date

2016

Identifier

ISSN 0239-7528, eISSN 2300-1917

References

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Hermes (1991), Nilpotent and high - order approximations of vector field systems, SIAM Rev, 33, 238, doi.org/10.1137/1033050 ; Koditschek (1987), Exact robot navigation by means of potential functions : Some topological considerations and Autom, Proc IEEE Int Conf Robot, 1. ; Panagou (2010), Dipole - like fields for stabilization of systems with Pfaffian constraints, Proc IEEE Int Conf Robot Autom, 4499. ; Rodríguez (2014), Trajectory tracking with collision avoidance for nonholonomic vehicles with acceleration constraints and limited sensing, Int J Robot Res, 33, 1569, doi.org/10.1177/0278364914537130 ; Akishita (1990), Laplace potential for moving obstacle avoidance and approach of a mobile robot - USA Symposium on Flexible Automation / A Pacific Rim Conference, Proc Japan, 139. ; Pazderski (2012), A comparison study of discontinuous control algorithms for three - link nonholonomic manipulator Lecture Notes in Control and Inform Robot Motion Control : Recent Developments, Sci, 396. ; LaValle (2006), Planning Cambridge University Press UK, Algorithms. ; Pazderski (2015), Control of planar robot in the flight phase using transverse function approach, Bull Pol Tech, 63, 759. ; Michałek (2010), Vector - Field - Orientation feedback control method for a differentially driven vehicle, IEEE Trans Control Syst Technol, 18, 45, doi.org/10.1109/TCST.2008.2010406 ; Barr (1981), Superquadrics and angle - preserving transformations, IEEE Comput Graph Appl, 1, 11, doi.org/10.1109/MCG.1981.1673799 ; Pazderski (2012), Control of a unicycle - like robot with trailers using transverse function approach, Bull Pol Tech, 60, 537. ; Lizárraga (2004), Obstructions to the existence of universal stabilizers for smooth control systems, Math Control Signal, 16, 255, doi.org/10.1007/s00498-003-0140-x ; Urakubo (2004), Feedback control of a two wheeled mobile robot with obstacle avoidance using potential functions on Intelligent Robots and Systems, Proc IEEE RSJ Int Conf, 2428. ; Kim (1992), Real - time obstacle avoidance using harmonic potential functions, IEEE Trans Robot Autom, 8, 338, doi.org/10.1109/70.143352 ; Morin (2008), Stabilization of trajectories for systems on Lie groups Application to the rolling sphere th IFAC World Congress, Proc, 17, 508. ; Krysiak (2015), Kinematic singularities avoidance for the planar three - link nonholonomic manipulator th Workshop on Robot Motion and Control, Proc Int, 10, 252. ; Pomet (1992), Explicit design of time varying stabilization control laws for a class of controllable systems without drifts, Syst Control Lett, 18, 147, doi.org/10.1016/0167-6911(92)90019-O ; Oriolo (2002), De Luca WMR control via dynamic feedback linearization : design implementation and experimental validation, IEEE Trans Control Syst Technol, 10, 835, doi.org/10.1109/TCST.2002.804116 ; Mastellone (2008), Formation control and collision avoidance for multi - agent non - holonomic systems : Theory and experiments, Int J Robot Res, 27, 107, doi.org/10.1177/0278364907084441 ; Waydo (2003), Vehicle motion planning using stream functions and Autom, Proc IEEE Int Conf Robot, 2484. ; Volpe (1987), Artificial potentials with elliptical isopotential contours for obstacle avoidance th Decision and Control, Proc IEEE Conf, 26, 180. ; Rimon (1992), Exact robot navigation using artificial potential fields and, IEEE Trans Robot Autom, 8, 501, doi.org/10.1109/70.163777 ; Ishikawa (2009), Tracking control of the trident snake robot with the transverse function approach th on Decision and Control and th Chinese Control Conf, Proc IEEE Conf, 48, 4137. ; Sørdalen (1992), Canudas de Wit and Exponential stabilization of mobile robots with nonholonomic constraints Control, IEEE Trans Autom, 37, 1791, doi.org/10.1109/9.173153 ; Kowalczyk (2012), Trajectory tracking control with obstacle avoidance capability for unicycle - like mobile robot, Bull Pol Tech, 60, 537. ; Kozłowski (2013), Modular architecture of the multi - robot system for teleoperation and formation control purposes th Workshop Robot Motion and Control, InProc Int, 9, 19.

DOI

10.1515/bpasts-2016-0092

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