Single and Multiple Motion Control of Autonomous Robotic Vehicles

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2017

Autores

Aguiar, AP (Autor) FEUP

Ata de Conferência Internacional

Título: 2017 11th International Workshop on Robot Motion and Control (RoMoCo)

Páginas: 172-184

Indexação

ISI Web of Knowledge - 1 Citação

Scopus - 2 Citações

Outras Informações

ID Authenticus: P-00N-9RK

DOI: 10.1109/romoco.2017.8003910

Abstract (EN): The past few decades have witnessed a significant research effort in the area of motion control for autonomous robotic vehicles. This paper presents a brief survey related to two topics in this area: i) the design of control systems to drive a vehicle to track a time-parameterized trajectory (trajectory tracking), or to follow a geometric path (path-following); and ii) the problem of making a group of autonomous robotic vehicles follow desired geometric paths while keeping a specified formation pattern (cooperative path-following). From a theoretical standpoint, special attention is given to a number of challenging problems that include the complex and nonlinear vehicle dynamics, uncertainty, disturbances, and when in cooperation, the problem of communication constraints. Illustrative examples using Lyapunov based techniques for motion control design will be presented for wheeled mobile robots, autonomous underwater vehicles, and unmanned aerial vehicles.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 13