کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
413713 | 680663 | 2011 | 11 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Switching control approach for stable navigation of mobile robots in unknown environments
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Switching control approach for stable navigation of mobile robots in unknown environments Switching control approach for stable navigation of mobile robots in unknown environments](/preview/png/413713.png)
چکیده انگلیسی
This paper presents a stable switching control strategy for the parking problem of non-holonomic mobile robots. First, it is proposed a positioning-orientation switching controller for the parking problem. With this strategy robot backwards motions are avoided and the robot heading is always in the direction of the goal point facilitating the obstacle handling. Second, the avoidance of unexpected obstacles is considered in a reactive way by following the contour of the obstacles. Next, the stability of the switching parking/obstacle-avoider controller is analyzed showing stability under reasonable conditions. Finally, the good performance and the feasibility of this approach are shown through several experimental results.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Computer-Integrated Manufacturing - Volume 27, Issue 3, June 2011, Pages 558–568
Journal: Robotics and Computer-Integrated Manufacturing - Volume 27, Issue 3, June 2011, Pages 558–568
نویسندگان
Juan Marcos Toibero, Flavio Roberti, Ricardo Carelli, Paolo Fiorini,