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Title: Motion planning and feedback control for a unicycle in a way point following task: The VFO approach
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Abstract:
This paper is devoted to the "way point following" motion task of a unicycle where the motion planning and the closed-loop motion realization stage are considered. The "way point following" task is determined by the user-defined sequence of waypoints which have to be passed by the unicycle with the assumed finite precision. This sequence will take the vehicle from the initial state to the target state in finite time. ; The motion planning strategy proposed in the paper does not involve any interpolation of way-points leading to simplified task description and its subsequent realization. The motion planning as well as the motion realization stage are based on the Vector-Field-Orientation (VFO) approach applied here to a new task. The unique features of the resultant VFO control system, namely, predictable vehicle transients, fast error convergence, vehicle "directing effect" together with very simple controller parametric synthesis, may prove to be useful in practically motivated motion tasks.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
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AMCS, volume 19, number 4 (2009) ; click here to follow the link
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Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Digital Library of Zielona Góra > Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Digital Library of Zielona Góra > Repository > Types of work > Articles
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2009)
Last modified:
Apr 10, 2024
In our library since:
Apr 10, 2024
Number of object content hits:
10
All available object's versions:
https://zbc.uz.zgora.pl/publication/88583
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International Journal of Applied Mathematics and Computer Science (AMCS)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 25 (2015)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 24 (2014)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 23 (2013)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 22 (2012)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 21 (2011)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 20 (2010)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 19 (2009)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 19, number 1 (2009)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 19, number 2 (2009)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 19, number 3 (2009)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 19, number 4 (2009)
- Approximation of Jacobian inverse kinematics algorithms
- Motion planning and feedback control for a unicycle in a way point following task: The VFO approach
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International Journal of Applied Mathematics and Computer Science (AMCS),volume 1 (1991)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 26 (2016)
| Edition name | Date |
|---|---|
| Motion planning and feedback control for a unicycle in a way point following task: The VFO approach | Apr 10, 2024 |
