Shared-control for the kinematic model of a mobile robot

Abstract

Abstract-This paper presents a shared-control algorithm for the kinematic model of a mobile robot. The set of feasible position of the robot is defined by a group of linear inequalities. The shared-control strategy is based on a hysteresis switch and its properties are established by a Lyapunov-like analysis. Simulation results illustrate the effectiveness of the algorithm.

Shared-control for a UAV operating in the 3D space

“…This paper extends the results in [16] to a 3D space and provides formal proofs of the properties of the closed-loop system with the shared-control law. Furthermore, new case studies on 3D trajectory tracking is given in the paper.…”

“…Similarly to [16] the overall set R can be divided into three subsets: the safe subset R s , the hysteresis subset R h and the dangerous subset R d . Relative to the i th group of active constraints and a given v h , the set R can be divided intoR s , R h andR d by equations (12), given on the top of next page, where e = [cos θ cos φ, sin θ cos φ, sin φ]…”

“…In addition, as detailed in [16], any trajectory should enters the dangerous subset R d before leaving R where u f is active. Therefore, the set R is forward invariant and claim (2) holds.…”

Shared Control for the Kinematic and Dynamic Models of a Mobile Robot

“…A semi-autonomous UAV platform has been presented in [26], in which the hapic feedback reflecting the environment and the system states is available to the human operator. A shared-control law for the kinematic model of a mobile robot with knowledge of the absolute positions is given in [27]. This paper extends the results of [27] to the cases in which absolute positions are not measurable and the shared-control algorithm has to deal with both static and (non-predefined) dynamic environments.…”

“…A shared-control law for the kinematic model of a mobile robot with knowledge of the absolute positions is given in [27]. This paper extends the results of [27] to the cases in which absolute positions are not measurable and the shared-control algorithm has to deal with both static and (non-predefined) dynamic environments. It provides formal proofs of all technical statements, includes additional theoretical results and case studies.…”