The path following control of a unicycle based on the chained form of a kinematic model derived with respect to the Serret-Frenet frame

Płaskonka, J.

doi:10.1109/mmar.2012.6347814

Cited by 13 publications

(4 citation statements)

References 8 publications

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“…Such a transformation can be generalized to the kinematics models expressed with respect to the Serret-Frenet frame, which was shown in e.g. [20,21]. The model described by Eq.…”

Section: Noise Sensitivity Of Selected Kinematic Path Following Contrmentioning

confidence: 99%

Noise sensitivity of selected kinematic path following controllers for a unicycle

Libal¹,

Płaskonka²

2014

Bulletin of the Polish Academy of Sciences: Technical Sciences

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Abstract. In the paper a path following problem for a wheeled mobile robot of (2,0) type has been considered. The kinematic model of the robot was derived with respect to the Serret-Frenet frame. Two kinematic control algorithms -Samson and Morin-Samson -have been tested taking into account their sensitivity to a white noise with a zero mean appearing in the one of state variables. The properties of path following errors have been analysed using statistical techniques. The conclusions related to an acceptable level of noise and a range of applicability of the presented algorithms have been reached.

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“…Such a transformation can be generalized to the kinematics models expressed with respect to the Serret-Frenet frame, which was shown in e.g. [20,21]. The model described by Eq.…”

Section: Noise Sensitivity Of Selected Kinematic Path Following Contrmentioning

confidence: 99%

Noise sensitivity of selected kinematic path following controllers for a unicycle

Libal¹,

Płaskonka²

2014

Bulletin of the Polish Academy of Sciences: Technical Sciences

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“…curve parameterized by curvilinear distance, has been considered. In literature path tracking task has been discussed many times, for instance for mobile platforms [8,9,10], for fixed-base manipulators [3] and mobile manipulators [6,7]. The similar task was defined also for more complex robotic objects, such as autonomic underwater vehicles [2] and flying robots [1].…”

Section: Introductionmentioning

confidence: 99%

Following 3D paths by a manipulator

Mazur¹,

Płaskonka²,

Kaczmarek³

2015

Archives of Control Sciences

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In the paper a description of a manipulator relative to a desired three-dimensional path was presented. The path is parameterized orthogonally to the Serret-Frenet frame which is moving along the curve. For the path two different time parameterizations were chosen. The control law for the RTR manipulator which ensures realization of the task was specified. Theoretical considerations were illustrated by simulation results.

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“…An interesting strategy consists of decoupling the CPF problem into i) a path-following (PF) problem, where the goal is to derive closed loop control laws to drive each vehicle to its path at the reference speed profile and ii) a multiple vehicle coordination problem, where the objective is to adjust the speed of each vehicle so as to achieve the desired formation pattern. The PF problem has been widely addressed in the literature, see for example Skjetne et al [2004], Dagci et al [2003], Soetanto et al [2003], Plaskonka [2012]. The coordination problem, however, requires further study to address the limitations of the communication network among vehicles.…”

Section: Introductionmentioning

confidence: 99%

A Packet Loss Compliant Logic-Based Communication Algorithm for Cooperative Path-Following Control

Rego

Aguiar

Pascoal

2013

IFAC Proceedings Volumes

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Abstract:We introduce an event driven communication logic for decentralized control of a network of robotic vehicles (agents). The strategy proposed is robust to packet losses and drives the vehicles to predefined paths while holding a desired geometric formation pattern. To this effect, the paper extends an existing cooperative path following framework to consider the practical case where communications among the vehicles occur at discrete instants, instead of continuously. The introduced communication logic takes into account the topology of the communication network, the fact that communications are discrete, and the cost of exchanging information. We also address explicitly communication losses and bounded delays. Conditions are derived under which the overall closed loop system is input-to-state practically stable. The communication logic is applied to a cooperative path-following control system of multiple underactuated autonomous marine robots. Simulation results are presented and discussed.

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The path following control of a unicycle based on the chained form of a kinematic model derived with respect to the Serret-Frenet frame

Cited by 13 publications

References 8 publications

Noise sensitivity of selected kinematic path following controllers for a unicycle

Noise sensitivity of selected kinematic path following controllers for a unicycle

Following 3D paths by a manipulator

A Packet Loss Compliant Logic-Based Communication Algorithm for Cooperative Path-Following Control

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