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Title: Motion planning and trajectory tracking on 2-D manifolds embedded in 3-D workspaces
Authors: Papageorgiou, Xanthi
Kyriakopoulos, Kostas J.
Loizou, Savvas 
Keywords: Algorithms;Feedback control systems;Computer simulation;Navigation
Issue Date: 2005
Publisher: IEEE
Source: IEEE International Conference on Robotics and Automation, 2005, Barcelona, Spain
Abstract: In this paper we present a methodology that drives and stabilizes a robotic agent moving in a three dimensional environment, to a 2-dimensional manifold embedded in the workspace. Once the agent reaches the manifold, depending on the application, it performs a motion planning or a trajectory tracking task. Appropriately constructed belt-zone vector fields guarantee that the agent will not depart the 2-D manifold proximity area, while carrying out the motion planning or trajectory tracking task. The derived closed form feedback control law guarantees global convergence and collision avoidance. The properties of the proposed algorithm are verified through non-trivial computer simulations.
ISSN: 10504729
DOI: 10.1109/ROBOT.2005.1570154
Rights: © 2005 IEEE
Type: Conference Papers
Appears in Collections:Δημοσιεύσεις σε συνέδρια/Conference papers

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