2134/36752
Jingjing Jiang
Jingjing
Jiang
Pierluigi Di Franco
Pierluigi
Di Franco
Alessandro Astolfi
Alessandro
Astolfi
Shared control for the kinematic and dynamic models of a mobile robot
Loughborough University
2019
Collision avoidance
Control constraints
Nonlinear control system
Robot motion
Shared control
Engineering not elsewhere classified
2019-02-04 09:31:06
Journal contribution
https://repository.lboro.ac.uk/articles/journal_contribution/Shared_control_for_the_kinematic_and_dynamic_models_of_a_mobile_robot/9228428
This paper presents shared-control algorithms for the kinematic and dynamic models of a mobile robot with a feasible configuration set defined by means of linear inequalities. The shared-control laws based on a hysteresis switch are designed in the case in which absolute positions are not available. Instead, we measure the distances to obstacles and angular differences. Formal properties of the closed-loop systems with the shared control are established by a Lyapunov-like analysis. Simulation results and experimental results are presented to show the effectiveness of the algorithm.