dc.creator | Díaz del Río, Fernando | es |
dc.creator | Jiménez Moreno, Gabriel | es |
dc.creator | Sevillano Ramos, José Luis | es |
dc.creator | Vicente Díaz, Saturnino | es |
dc.creator | Civit Balcells, Antón | es |
dc.date.accessioned | 2018-02-08T10:15:03Z | |
dc.date.available | 2018-02-08T10:15:03Z | |
dc.date.issued | 2001 | |
dc.identifier.citation | Díaz 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.issn | 1556-4959 | es |
dc.identifier.uri | https://hdl.handle.net/11441/70123 | |
dc.description.abstract | In 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.sponsorship | Comisión Interministerial de Ciencia y Tecnología TER96-2056-C02-01 | es |
dc.format | application/pdf | es |
dc.language.iso | eng | es |
dc.publisher | John Wiley and Sons | es |
dc.relation.ispartof | Journal of Field Robotics, 18 (7), 325-342. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.title | A Path Following Control for Unicycle Robots | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/submittedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores | es |
dc.relation.projectID | TER96-2056-C02-01 | es |
dc.relation.publisherversion | http://onlinelibrary.wiley.com/doi/10.1002/rob.1027/full | es |
dc.identifier.doi | 10.1002/rob.1027 | es |
dc.contributor.group | Universidad de Sevilla. TEP-108: Robótica y Tecnología de Computadores Aplicada a la Rehabilitación | es |
idus.format.extent | 18 | es |
dc.journaltitle | Journal of Field Robotics | es |
dc.publication.volumen | 18 | es |
dc.publication.issue | 7 | es |
dc.publication.initialPage | 325 | es |
dc.publication.endPage | 342 | es |
dc.identifier.sisius | 6641569 | es |
dc.contributor.funder | Comisión Interministerial de Ciencia y Tecnología (CICYT). España | |