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

Keywords

General Engineering ; Computer Networks and Communications ; Atomic and Molecular Physics, and Optics ; Artificial Intelligence ; Information Systems

Divisions of PAS

Nauki Techniczne

Abstract

<jats:title>Abstract</jats:title><jats:p>This paper deals with control of a nonholonomic unicycle-like robot in a cluttered environment with static obstacles. The proposed solution is based on a combination of a universal motion controller taking advantage of transverse functions with a navigation velocity field determining a path in a free task space. The motion controller is used to imitate an omnidirectional planar kinematics such that nonholonomic constraints become hidden for a navigation layer. Then it is possible to generate vector fields which govern motion of the omnidirectional frame. The controller using the transverse function is discussed in depth. In particular, a possible parametrization of this function is considered and analysis of an augmented dynamics is provided for different motion patterns. Next, construction of obstacles and potential design for star-like shapes are presented. The navigation algorithm is verified experimentally and the results are discussed.</jats:p>

Publisher

Polish Academy of Sciences

Date

2016

Identifier

ISSN 0239-7528, eISSN 2300-1917

DOI

10.1515/bpasts-2016-0092

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