Shared control for the kinematic and dynamic models of a mobile robot
journal contributionposted on 04.02.2019, 09:31 by Jingjing 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