Temat: nonholonomic robots - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Robotic swarm self-organisation control
Autorzy:: Hendzel, Zenon
Wiech, Jakub
Powiązania:: https://bibliotekanauki.pl/articles/387481.pdf
Data publikacji:: 2019
Wydawca:: Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:: swarm robotics self-organization
PD controller
nonholonomic robots
Opis:: This article proposes a new swarm control method using distributed proportional-derivative (PD) control for self-organisation of swarm of nonholonomic robots. Kinematics control with distributed proportional-derivative (DPD) controller enables generation of desired robot trajectory achieving collective behaviour of a robotic swarm such as aggregation and pattern formation. Proposed method is a generalisation of virtual spring-damper control used in swarm self-organisation. The article includes the control algorithm synthesis using the Lyapunov control theory and numeric simulations results.
Źródło:: Acta Mechanica et Automatica; 2019, 13, 2; 130-134
1898-4088
2300-5319
Pojawia się w:: Acta Mechanica et Automatica
Dostawca treści:: Biblioteka Nauki

Artykuł

Skocz do pozycji: 2.

Tytuł:: Noise sensitivity of selected kinematic path following controllers for a unicycle
Autorzy:: Libal, U.
Płaskonka, J.
Powiązania:: https://bibliotekanauki.pl/articles/200552.pdf
Data publikacji:: 2014
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: wheeled mobile robots
path following
Serret-Frenet frame
model-based control
nonlinear control systems
nonholonomic constraints
probabilistic robotics
Opis:: In the paper a path following problem for a wheeled mobile robot of (2,0) type has been considered. The kinematic model of the robot was derived with respect to the Serret-Frenet frame. Two kinematic control algorithms - Samson and Morin-Samson - have been tested taking into account their sensitivity to a white noise with a zero mean appearing in the one of state variables. The properties of path following errors have been analysed using statistical techniques. The conclusions related to an acceptable level of noise and a range of applicability of the presented algorithms have been reached.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2014, 62, 1; 3-13
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

Artykuł

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