Shared control for the kinematic and dynamic models of a mobile robot
journal contributionposted on 2019-02-04, 09:31 authored by Jingjing JiangJingjing Jiang, Pierluigi Di Franco, Alessandro Astolfi
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.
- Aeronautical, Automotive, Chemical and Materials Engineering
- Aeronautical and Automotive Engineering
Published inIEEE Transactions on Control Systems Technology
Pages2112 - 2124
CitationJIANG, J., DI FRANCO, P. and ASTOLFI, A., 2016. Shared control for the kinematic and dynamic models of a mobile robot. IEEE Transactions on Control Systems Technology, 24 (6), pp.2112-2124.
Publisher© Institute of Electrical and Electronics Engineers (IEEE)
- AM (Accepted Manuscript)
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