paper1.pdf (437.27 kB)
Download file

Shared-control for the kinematic model of a mobile robot

Download (437.27 kB)
conference contribution
posted on 04.02.2019, 10:24 by Jingjing JiangJingjing Jiang, Alessandro Astolfi
This 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 Control

Citation

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

© IEEE

Version

AM (Accepted Manuscript)

Publication date

2014

Notes

© 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

9781467360906

ISSN

0191-2216

Language

en

Usage metrics

Keywords

Exports