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....

Full description

Saved in:

Bibliographic Details
Main Authors:	Jingjing Jiang, Pierluigi Di Franco, Alessandro Astolfi
Format:	Default Article
Published:	2016
Subjects:	Other engineering not elsewhere classified Collision avoidance Control constraints Nonlinear control system Robot motion Shared control Engineering not elsewhere classified
Online Access:	https://hdl.handle.net/2134/36752
Tags:	Add Tag No Tags, Be the first to tag this record!

id	rr-article-9228428
record_format	Figshare
spelling	rr-article-92284282016-01-01T00:00:00Z Shared control for the kinematic and dynamic models of a mobile robot Jingjing Jiang (5731739) Pierluigi Di Franco (7123250) Alessandro Astolfi (7120631) Other engineering not elsewhere classified Collision avoidance Control constraints Nonlinear control system Robot motion Shared control Engineering not elsewhere classified 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. 2016-01-01T00:00:00Z Text Journal contribution 2134/36752 https://figshare.com/articles/journal_contribution/Shared_control_for_the_kinematic_and_dynamic_models_of_a_mobile_robot/9228428 CC BY-NC-ND 4.0
institution	Loughborough University
collection	Figshare
topic	Other engineering not elsewhere classified Collision avoidance Control constraints Nonlinear control system Robot motion Shared control Engineering not elsewhere classified
spellingShingle	Other engineering not elsewhere classified Collision avoidance Control constraints Nonlinear control system Robot motion Shared control Engineering not elsewhere classified Jingjing Jiang Pierluigi Di Franco Alessandro Astolfi Shared control for the kinematic and dynamic models of a mobile robot
description	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.
format	Default Article
author	Jingjing Jiang Pierluigi Di Franco Alessandro Astolfi
author_facet	Jingjing Jiang Pierluigi Di Franco Alessandro Astolfi
author_sort	Jingjing Jiang (5731739)
title	Shared control for the kinematic and dynamic models of a mobile robot
title_short	Shared control for the kinematic and dynamic models of a mobile robot
title_full	Shared control for the kinematic and dynamic models of a mobile robot
title_fullStr	Shared control for the kinematic and dynamic models of a mobile robot
title_full_unstemmed	Shared control for the kinematic and dynamic models of a mobile robot
title_sort	shared control for the kinematic and dynamic models of a mobile robot
publishDate	2016
url	https://hdl.handle.net/2134/36752
_version_	1797189141808545792

Shared control for the kinematic and dynamic models of a mobile robot

Similar Items