Trajectory planning for a four-wheel robot using decomposition-coordination principle

Autor:	Mostafa Rachik, Amine Bouaine, Hala El Ouarrak, Mohammed Mestari
Rok vydání:	2015
Předmět:	Computer Science::Robotics Nonlinear system symbols.namesake Control theory Trajectory planning Lagrange multiplier Process (computing) Decomposition (computer science) symbols Robot Control engineering Kinematics Mathematics
Zdroj:	2015 Third World Conference on Complex Systems (WCCS).
DOI:	10.1109/icocs.2015.7483265
Popis:	This paper addresses the problem of trajectory planning for a four-wheel robot while taking into consideration its kinematic and dynamic constraints. The process begins first, by determining a model for the robot, then solving the nonlinear equation using the decomposition-coordination principle which allows the nonlinearity to be treated at a local level. The coordination is gained by using the Lagrange multipliers. A numerical application is presented to highlight the advantages of the approach we use in this paper.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::78eef268f38bc8ef005d20b184288cc7 https://doi.org/10.1109/icocs.2015.7483265 Zobrazit plný text záznamu