OTHER
Control of mobile robot following a piecewise-smooth path
Yu.A. Kapitanyuk, S. A. Chepinsky
- Year
- 2013
- Citations
- 19
Abstract
The paper describes an approach to the development of motion control system for a mobile robot following a piecewise smooth path set by the waypoints and parameterized by linear and circular segments. Control is synthesized using the differential geometrical method through nonlinear transformation of initial dynamic model. The main results presented are the model of spatial motion and relevant nonlinear control algorithms.
Keywords
Computer sciencePath (computing)PiecewiseMobile robotControl (management)Robot controlArtificial intelligenceRobotControl theory (sociology)Computer network
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