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This paper presents an extension of navigation function used to control an omnidirectional robot. Navigation function is used to control position coordinates while the orientation variable is controlled with simple proportional controller. The extension relies on a specific normalization of navigation function gradient. Presented method results in much more rapid convergence in comparison to classic...
This paper presents navigation function saddle point detection and avoidance for a unicycle robot in sphere worlds. The detection is based on the gradient and Hessian analysis. The avoidance algorithm was numerically tested for two scenarios and various values of the parameter connected with the sensitivity of the saddle point detection.
This paper considers problem of stabilization of the first order nonholonomic chained system using polar-like coordinates. A control method considered here can be regarded as an extension of control solution based on polar coordinate transformation in order to apply it to other system than unicycle. Presented control strategy gives possibility to obtain fast convergence of regulation errors without...
This paper is devoted to the trajectory tracking and set-point feedback control problems formulated for an articulated tractor-trailer vehicle with off-axle hitching. The Vector Field(s) Orientation (VFO) control method presented in the paper allows treating the two tasks in a unified manner. Proposed concept leads to smooth and non-oscillatory vehicle motion quality together with intuitive geometrical...
The paper considers the convergence problem for a two input affine nonholonomic driftless system with three-dimensional state. The problem is solved using time-invariant static-state feedback and polar transformation which is singular at the origin. The given solution, in general, is local, and the feasible domain is dependent on the properties of the control system. Theoretical considerations are...
The paper presents a unified control framework for trajectory tracking and set-point motion tasks for a front-axle driven car-like robot. The concept relies on two crucial elements. The first one follows from reformulation of the vehicle kinematics into the form of the unicycle model for the vehicle body augmented with the front-wheel steering dynamics. The second one relies on application of the...
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