Shared control for the kinematic and dynamic models of a mobile robot
This paper presents shared-control algorithms for the kinematic and dynamic models of a mobile robot with a feasible configuration set defined by means of linear inequalities. The shared-control laws based on a hysteresis switch are designed in the case in which absolute positions are not available....
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| Main Authors: | , , |
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| Format: | Default Article |
| Published: |
2016
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| Subjects: | |
| Online Access: | https://hdl.handle.net/2134/36752 |
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| Summary: | This paper presents shared-control algorithms for the kinematic and dynamic models of a mobile robot with a feasible configuration set defined by means of linear inequalities. The shared-control laws based on a hysteresis switch are designed in the case in which absolute positions are not available. Instead, we measure the distances to obstacles and angular differences. Formal properties of the closed-loop systems with the shared control are established by a Lyapunov-like analysis. Simulation results and experimental results are presented to show the effectiveness of the algorithm. |
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