Simulation and Experimental Results of a New Control Strategy For Point Stabilization of Nonholonomic Mobile Robots

Fabregas, Ernesto, Farias, Gonzalo, Aranda-Escolástico, Ernesto, Garcia, Gonzalo, Chaos, Dictino, Dormido Canto, Sebastián y Dormido Bencom, Sebastián . (2019) Simulation and Experimental Results of a New Control Strategy For Point Stabilization of Nonholonomic Mobile Robots. IEEE Transactions on Industrial Electronics

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Título Simulation and Experimental Results of a New Control Strategy For Point Stabilization of Nonholonomic Mobile Robots
Autor(es) Fabregas, Ernesto
Farias, Gonzalo
Aranda-Escolástico, Ernesto
Garcia, Gonzalo
Chaos, Dictino
Dormido Canto, Sebastián
Dormido Bencom, Sebastián
Materia(s) Informática
Abstract This article presents a closed-loop position control of a mobile robot, which is capable of moving from its current position to a target point by manipulating its linear and angular velocities. The main objective of this article is to modify an existing control law based on the kinematic model to improve the response when the robot is backwards oriented and to reach the destination point in less time and with a shorter trajectory. Stability of the proposed control law is validated by Lyapunov Criterion. Some procedures are implemented to test this approach both in simulation with MATLAB, and experimentally with the Khepera IV robot.
Palabras clave differential wheeled mobile robots
position control
Editor(es) IEEE
Fecha 2019-08-22
Formato application/pdf
Identificador bibliuned:557-Sdormido-0063
http://e-spacio.uned.es/fez/view/bibliuned:557-Sdormido-0063
DOI - identifier 10.1109/TIE.2019.2935976
ISSN - identifier 1557-9948
Nombre de la revista IEEE Transactions on Industrial Electronics
Número de Volumen 67
Número de Issue 8
Página inicial 6679
Página final 6687
Publicado en la Revista IEEE Transactions on Industrial Electronics
Idioma eng
Versión de la publicación acceptedVersion
Tipo de recurso Article
Derechos de acceso y licencia http://creativecommons.org/licenses/by-nc-nd/4.0
info:eu-repo/semantics/openAccess
Tipo de acceso Acceso abierto
Notas adicionales The registered version of this article, first published in IEEE Transactions on Industrial Electronics, is available online at the publisher's website: IEEE https://doi.org/10.1109/TIE.2019.2935976
Notas adicionales La versión registrada de este artículo, publicado por primera vez en IEEE Transactions on Industrial Electronics, está disponible en línea en el sitio web del editor: IEEE https://doi.org/10.1109/TIE.2019.2935976

 
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Creado: Mon, 29 Jan 2024, 23:17:45 CET