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dc.creatorDíaz del Río, Fernandoes
dc.creatorJiménez Moreno, Gabrieles
dc.creatorSevillano Ramos, José Luises
dc.creatorVicente Díaz, Saturninoes
dc.creatorCivit Balcells, Antónes
dc.date.accessioned2018-02-08T10:15:03Z
dc.date.available2018-02-08T10:15:03Z
dc.date.issued2001
dc.identifier.citationDíaz del Río, F., Jiménez Moreno, G., Sevillano Ramos, J.L., Vicente Díaz, S. y Civit Balcells, A. (2001). A Path Following Control for Unicycle Robots. Journal of Field Robotics, 18 (7), 325-342.
dc.identifier.issn1556-4959es
dc.identifier.urihttps://hdl.handle.net/11441/70123
dc.description.abstractIn this work we present a new path following control for unicycle robots that is applicable for almost all the possible desired paths and whose analysis is very straightforward. First we select the path following method that consists of two steps: choosing a ‘‘projection’’ that relates the actual posture to the desired path and imposing a ‘‘motion exigency’’ to ensure that the robot advances. A ‘‘projection’’ that considers all the error coordinates is selected and closed equations are obtained for it. The uniqueness projection is carefully analyzed and a necessary and sufficient condition is also presented. This condition shows that a slight bound on the curvature derivative of desired paths must be imposed to preserve uniqueness. It is remarkable that the selected path following is applicable for paths containing zero-radius turns, a problem that has never been resolved as far as we know. In addition, an asymptotically stable control law is found using the closed form equation of the proposed path following and the second Lyapunov method. Finally, we show the behavior of the path following and the control law through several simulated and experimental results, using a computerized wheelchair built at our research facility.es
dc.description.sponsorshipComisión Interministerial de Ciencia y Tecnología TER96-2056-C02-01es
dc.formatapplication/pdfes
dc.language.isoenges
dc.publisherJohn Wiley and Sonses
dc.relation.ispartofJournal of Field Robotics, 18 (7), 325-342.
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.titleA Path Following Control for Unicycle Robotses
dc.typeinfo:eu-repo/semantics/articlees
dcterms.identifierhttps://ror.org/03yxnpp24
dc.type.versioninfo:eu-repo/semantics/submittedVersiones
dc.rights.accessrightsinfo:eu-repo/semantics/openAccesses
dc.contributor.affiliationUniversidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadoreses
dc.relation.projectIDTER96-2056-C02-01es
dc.relation.publisherversionhttp://onlinelibrary.wiley.com/doi/10.1002/rob.1027/fulles
dc.identifier.doi10.1002/rob.1027es
dc.contributor.groupUniversidad de Sevilla. TEP-108: Robótica y Tecnología de Computadores Aplicada a la Rehabilitaciónes
idus.format.extent18es
dc.journaltitleJournal of Field Roboticses
dc.publication.volumen18es
dc.publication.issue7es
dc.publication.initialPage325es
dc.publication.endPage342es
dc.identifier.sisius6641569es
dc.contributor.funderComisión Interministerial de Ciencia y Tecnología (CICYT). España

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