Trajectory control of the wheeled mobile robots in dynamic environment

被引：0
|
作者：
Zhang, Botao [1 ]
Krasnov, Aleksandr Y. [2 ]
Chepinskiy, Sergey A. [2 ]
Grigoriev, Valery V. [2 ]
Artemov, Kirill A. [2 ]
Liao, Duzhesheng [2 ]
Zhang, Shengyi [2 ]
Wang, Jian [1 ]
机构：
[1] Hangzhou Dianzi Univ, Sch Automat, Hangzhou, Peoples R China
[2] ITMO Univ, Fac Control Syst & Robot, St Petersburg, Russia
来源：
2019 24TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS (MMAR) | 2019年
关键词：
trajectory control; mobile robot; differential geometry; nonlinear stabilization;
D O I：
10.1109/mmar.2019.8864705
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This article deals with the problem of the trajectory control of wheeled mobile robots in presence of moving external objects. A procedure of the controllers design based on stabilisation of geometric manifolds using transformation of the mathematical model to the task-oriented basis without velocities measure is proposed. Efficiency of proposed algorithms is proven by numerical simulation results and experimental implementation on wheeled mobile robot.
引用
收藏
页码：269 / 274
页数：6
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