Παρακαλώ χρησιμοποιήστε αυτό το αναγνωριστικό για να παραπέμψετε ή να δημιουργήσετε σύνδεσμο προς αυτό το τεκμήριο:
https://hdl.handle.net/20.500.14279/2416
Τίτλος: | Hybrid control of a constrained velocity unicycle with local sensing | Συγγραφείς: | Oikonomopoulos, Apollon S. Kyriakopoulos, Kostas J. Loizou, Savvas |
metadata.dc.contributor.other: | Λοΐζου, Σάββας | Λέξεις-κλειδιά: | Speed;Computer simulation;Vehicles;Mobile robots | Ημερομηνία Έκδοσης: | 2008 | Πηγή: | 47th IEEE Conference on Decision and Control CDC, 2008, Cancun, Mexico | Περίληψη: | This paper introduces a hybrid control scheme for steering a non-holonomic agent with limited sensing capabilities and input constraints through a stationary but unknown workspace, occupied by arbitrarily shaped obstacles. The considered constraints (i.e. constant linear and bounded angular velocities) apply to a wide category of vehicle systems. Limited sensing is realized by a radially bounded sensing device. The proposed hybrid controller respects the kinematic constraints while guaranteeing obstacle avoidance and convergence to a specified goal configuration. In addition to the analytical guarantees, we demonstrate the effectiveness of the proposed hybrid control scheme through non-trivial computer simulations. | URI: | https://hdl.handle.net/20.500.14279/2416 | ISSN: | 01912216 | DOI: | 10.1109/CDC.2008.4738994 | Rights: | © 2008 IEEE | Type: | Conference Papers | Affiliation: | National Technical University Of Athens |
Εμφανίζεται στις συλλογές: | Δημοσιεύσεις σε συνέδρια /Conference papers or poster or presentation |
CORE Recommender
SCOPUSTM
Citations
50
3
checked on 9 Νοε 2023
Page view(s) 50
546
Last Week
0
0
Last month
36
36
checked on 13 Μαρ 2025
Google ScholarTM
Check
Altmetric
Όλα τα τεκμήρια του δικτυακού τόπου προστατεύονται από πνευματικά δικαιώματα