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Shared-control for the kinematic model of a mobile robot
conference contribution
posted on 2019-02-04, 10:24 authored by Jingjing JiangJingjing Jiang, Alessandro AstolfiThis paper presents a shared-control algorithm for the kinematic model of a mobile robot. The set of feasible position of the robot is defined by a group of linear inequalities. The shared-control strategy is based on a hysteresis switch and its properties are established by a Lyapunov-like analysis. Simulation results illustrate the effectiveness of the algorithm.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering
Published in
2014 IEEE 53rd Annual Conference on Decision and Control (CDC) 53rd IEEE Conference on Decision and ControlCitation
JIANG, J. and ASTOLFI, A., 2014. Shared-control for the kinematic model of a mobile robot. Presented at the 53rd IEEE Conference on Decision and Control, Los Angeles, CA, USA, 15-17 December 2014, pp.62-67.Publisher
© IEEEVersion
- AM (Accepted Manuscript)
Publication date
2014Notes
© 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.ISBN
9781467360906ISSN
0191-2216Publisher version
Language
- en