Please use this identifier to cite or link to this item: https://ktisis.cut.ac.cy/handle/10488/7813
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dc.contributor.authorPapageorgiou, Xanthien
dc.contributor.authorKyriakopoulos, Kostas J.en
dc.contributor.authorLoizou, Savvas-
dc.contributor.otherΛοΐζου, Σάββας-
dc.date.accessioned2013-03-11T13:18:33Zen
dc.date.accessioned2013-05-17T05:29:56Z-
dc.date.accessioned2015-12-02T11:22:14Z-
dc.date.available2013-03-11T13:18:33Zen
dc.date.available2013-05-17T05:29:56Z-
dc.date.available2015-12-02T11:22:14Z-
dc.date.issued2005en
dc.identifier.citationIEEE International Conference on Robotics and Automation, 2005, Barcelona, Spainen
dc.identifier.issn10504729en
dc.identifier.urihttp://ktisis.cut.ac.cy/handle/10488/7813en
dc.description.abstractIn 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.en
dc.formatpdfen
dc.language.isoenen
dc.publisherIEEEen
dc.rights© 2005 IEEEen
dc.subjectAlgorithmsen
dc.subjectFeedback control systemsen
dc.subjectComputer simulationen
dc.subjectNavigationen
dc.titleMotion planning and trajectory tracking on 2-D manifolds embedded in 3-D workspacesen
dc.typeConference Papersen
dc.affiliationNational Technical University Of Athensen
dc.identifier.doi10.1109/ROBOT.2005.1570154en
dc.dept.handle123456789/54en
item.grantfulltextnone-
item.fulltextNo Fulltext-
item.languageiso639-1other-
crisitem.author.deptDepartment of Mechanical Engineering and Materials Science and Engineering-
crisitem.author.facultyFaculty of Engineering and Technology-
crisitem.author.orcid0000-0003-4083-9946-
crisitem.author.parentorgFaculty of Engineering and Technology-
Appears in Collections:Δημοσιεύσεις σε συνέδρια/Conference papers
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