Motion control of nonholonomic robots at low speed
| Autor: | Ľubica Miková, Alexander Gmiterko, Michal Kelemen, Ivan Virgala, Erik Prada, Darina Hroncová, Martin Varga |
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| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: | |
| Zdroj: | International Journal of Advanced Robotic Systems, Vol 17 (2020) |
| Druh dokumentu: | article |
| ISSN: | 1729-8814 17298814 |
| DOI: | 10.1177/1729881420902554 |
| Popis: | Many applications in robotics require precise tracking of the prescribed path. The aim of this article is to develop and verify by computer simulation a control design method which ensures that the “output” of the robot will move along a prescribed path. A virtual vehicle approach algorithm was used to track a predefined vehicle path. The idea behind this algorithm is that the movement of a virtual vehicle on a predefined path is controlled by a differential equation whose input is a control deviation representing the distance between a real and a virtual vehicle. The main advantage of the path-following approach is that, based on this approach, the feedback realized is invariant to the path. |
| Databáze: | Directory of Open Access Journals |
| Externí odkaz: |
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