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Abstrakty
This paper deals with control of a nonholonomic unicycle-like robot in a cluttered environment with static obstacles. The proposed solution is based on a combination of a universal motion controller taking advantage of transverse functions with a navigation velocity field determining a path in a free task space. The motion controller is used to imitate an omnidirectional planar kinematics such that nonholonomic constraints become hidden for a navigation layer. Then it is possible to generate vector fields which govern motion of the omnidirectional frame. The controller using the transverse function is discussed in depth. In particular, a possible parametrization of this function is considered and analysis of an augmented dynamics is provided for different motion patterns. Next, construction of obstacles and potential design for star-like shapes are presented. The navigation algorithm is verified experimentally and the results are discussed.
Rocznik
Tom
Strony
831--851
Opis fizyczny
Bibliogr. 47 poz., rys., wykr.
Twórcy
autor
- Chair of Control and Systems Engineering, Poznań University of Technology, 3A Piotrowo St., 60-965 Poznań, Poland
Bibliografia
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Uwagi
PL
Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.
Typ dokumentu
Bibliografia
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