- Tytuł:
- Application of transverse functions to control differentially driven wheeled robots using velocity fields
- Autorzy:
- Pazderski, D.
- Powiązania:
- https://bibliotekanauki.pl/articles/200419.pdf
- Data publikacji:
- 2016
- Wydawca:
- Polska Akademia Nauk. Czytelnia Czasopism PAN
- Tematy:
-
transverse functions
nonholonomic systems
systems on Lie groups
potential function
velocity fields
pola prędkości
funkcja transwersalna
system nieholonomiczny
grupa Liego
funkcja potencjalna - Opis:
- 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.
- Źródło:
-
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2016, 64, 4; 831-851
0239-7528 - Pojawia się w:
- Bulletin of the Polish Academy of Sciences. Technical Sciences
- Dostawca treści:
- Biblioteka Nauki
Artykuł