Stabilized feedback control of unicycle mobile robots

Khoukhi Amar; Shahab Mohamed

doi:10.5772/51323

Stabilized feedback control of unicycle mobile robots

Khoukhi Amar^*, Shahab Mohamed

^*Corresponding author for this work

King Fahd University of Petroleum & Minerals

Research output: Contribution to journal › Article › peer-review

9 Scopus citations

Abstract

In this paper, a stabilized feedback control is designed for a class of unicycle non-holonomic mobile robots. The approach is based on kinematic polar coordinate transformations. The suggested control scheme allows the robot to achieve stabilized near-optimal trajectories, while satisfying the hard constraints of specified initial and final postures (positions and orientations). Simulation experiments showing the effectiveness of the proposed technique are provided and discussed.

Original language	English
Article number	187
Journal	International Journal of Advanced Robotic Systems
Volume	10
DOIs	https://doi.org/10.5772/51323
State	Published - 2013

Keywords

Kinematic feedback control
Polar-based model
Posture constraints
Unicycle mobile robots

ASJC Scopus subject areas

Software
Computer Science Applications
Artificial Intelligence

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10.5772/51323

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title = "Stabilized feedback control of unicycle mobile robots",

abstract = "In this paper, a stabilized feedback control is designed for a class of unicycle non-holonomic mobile robots. The approach is based on kinematic polar coordinate transformations. The suggested control scheme allows the robot to achieve stabilized near-optimal trajectories, while satisfying the hard constraints of specified initial and final postures (positions and orientations). Simulation experiments showing the effectiveness of the proposed technique are provided and discussed.",

keywords = "Kinematic feedback control, Polar-based model, Posture constraints, Unicycle mobile robots",

author = "Khoukhi Amar and Shahab Mohamed",

year = "2013",

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language = "English",

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T1 - Stabilized feedback control of unicycle mobile robots

AU - Amar, Khoukhi

AU - Mohamed, Shahab

PY - 2013

Y1 - 2013

N2 - In this paper, a stabilized feedback control is designed for a class of unicycle non-holonomic mobile robots. The approach is based on kinematic polar coordinate transformations. The suggested control scheme allows the robot to achieve stabilized near-optimal trajectories, while satisfying the hard constraints of specified initial and final postures (positions and orientations). Simulation experiments showing the effectiveness of the proposed technique are provided and discussed.

AB - In this paper, a stabilized feedback control is designed for a class of unicycle non-holonomic mobile robots. The approach is based on kinematic polar coordinate transformations. The suggested control scheme allows the robot to achieve stabilized near-optimal trajectories, while satisfying the hard constraints of specified initial and final postures (positions and orientations). Simulation experiments showing the effectiveness of the proposed technique are provided and discussed.

KW - Kinematic feedback control

KW - Polar-based model

KW - Posture constraints

KW - Unicycle mobile robots

UR - https://www.scopus.com/pages/publications/84878440046

U2 - 10.5772/51323

DO - 10.5772/51323

M3 - Article

AN - SCOPUS:84878440046

SN - 1729-8806

VL - 10

JO - International Journal of Advanced Robotic Systems

JF - International Journal of Advanced Robotic Systems

M1 - 187

ER -

Stabilized feedback control of unicycle mobile robots

Abstract

Keywords

ASJC Scopus subject areas

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