Discrete time position feedback based steering control for autonomous homing of a mobile robot

Dwaracherla, Vikranth; Thakar, Shantanu; Kumar, Gautam; Vachhani, Leena

doi:10.1109/icca.2016.7505372

Cited by 3 publications

(2 citation statements)

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“…The area coverage paths generated need to be followed by the robot, which requires the use of constraint motion planning algorithms. Researchers have explored sampling-based approaches to generate constrained point-to-point trajectories for high-DOF robotic systems like manipulators and mobile manipulators [52] , [53] , [54] , [55] , [56] , [57] , [58] as well as mobile robots [59] , [60] . Dalibard et al.…”

Section: Related Workmentioning

confidence: 99%

Area-Coverage Planning for Spray-based Surface Disinfection with a Mobile Manipulator

Thakar

Malhan

Bhatt

et al. 2022

Robotics and Autonomous Systems

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Section: Related Workmentioning

confidence: 99%

Area-Coverage Planning for Spray-based Surface Disinfection with a Mobile Manipulator

Thakar

Malhan

Bhatt

et al. 2022

Robotics and Autonomous Systems

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“…Moreover, to the best of the authors' knowledge, such a discrete‐time controller with limited sensing guaranteeing finite‐time stabilization for unicycle robots, does not exist in the literature. In comparison with the homing strategies, see for instance the work of Dwaracherla et al, the proposed strategy in this paper serve long‐range docking applications in finite time, using position feedback alone.…”

Section: Introductionmentioning

confidence: 99%

Finite‐time posture stabilization of the unicycle mobile robot using only position information: A discrete‐time sliding mode approach

Thomas

Bandyopadhyay

Vachhani

2019

Intl J Robust & Nonlinear

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Summary The posture stabilization of a unicycle mobile robot is useful in executing parking and docking maneuvers. It becomes more advantageous to guarantee the posture stabilization in finite time for a battery operated robot, especially in an application involving multiple robots. This paper addresses the posture stabilization of the unicycle mobile robot in finite time, especially when only the position information is available. We adopt the reaching law approach and design a discrete‐time sliding mode (DSM) controller by finitely discretizing the chained form of the unicycle, using the notion of multirate input sampling. Finite‐time stabilization of the equilibria is achieved by using multirate piecewise continuous inputs. Furthermore, the control inputs are realized using multirate output‐feedback (MROF) technique, wherein the states are estimated using the knowledge of the past fast output samples and immediate past control inputs. The proposed MROF‐DSM strategy avoids undesirable chatter in the system response owing to the nonswitching‐type controller and guarantees the stabilization in finite time. Simulations demonstrate the efficacy of the proposed method.

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Motion Planning for Point-to-Point Navigation of Spherical Robot Using Position Feedback

Dwaracherla

Thakar

Vachhani

et al. 2019

IEEE/ASME Trans. Mechatron.

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Discrete time position feedback based steering control for autonomous homing of a mobile robot

Cited by 3 publications

References 10 publications

Area-Coverage Planning for Spray-based Surface Disinfection with a Mobile Manipulator

Area-Coverage Planning for Spray-based Surface Disinfection with a Mobile Manipulator

Finite‐time posture stabilization of the unicycle mobile robot using only position information: A discrete‐time sliding mode approach

Motion Planning for Point-to-Point Navigation of Spherical Robot Using Position Feedback

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