Journal ArticleDOI
Switching algorithm for robust configuration control of a wheeled vehicle
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In this article, a robust configuration (i.e., position and orientation) control of an industrial forklift is investigated, and the equations of motion of a typical forklift are derived.About:
This article is published in Control Engineering Practice.The article was published on 2012-03-01. It has received 23 citations till now. The article focuses on the topics: Robustness (computer science).read more
Citations
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Journal ArticleDOI
A Path-Planning Algorithm Using Vector Potential Functions in Triangular Regions
TL;DR: The proposed path-planning method, entailing velocity-and-orientation tracking control and configuration control, is applied to a unicycle vehicle, and its performance is compared with that of an existing path-Planning scheme.
Journal ArticleDOI
PSO-based Minimum-time Motion Planning for Multiple Vehicles Under Acceleration and Velocity Limitations
TL;DR: A particle swarm optimization (PSO)-based motion-planning algorithm in a multiple-vehicle system that minimizes the traveling time of the slowest vehicle by considering, as constraints, the radial and tangential accelerations and maximum linear velocities of all vehicles is discussed.
Journal ArticleDOI
Sliding-mode and proportional-derivative-type motion control with radial basis function neural network based estimators for wheeled vehicles
TL;DR: The obstacle avoidance strategy utilising the sliding surface adjustment to an existing navigation method is presented and it is concluded that the driving velocity and steering-angle performances of the proposed control system are satisfactory.
Journal Article
Control Architecture of an Autonomous Material Handling Vehicle
TL;DR: A finite state machine (FSM) that regulates the excecution of the planning and various control algorithms is proposed and the experimental results of a forklift transporting a pallet from an initial to a desired goal configuration demonstrate the effectiveness of the proposed control architecture.
Journal ArticleDOI
Implementation of Leader-Follower Formation Control of a Team of Nonholonomic Mobile Robots
TL;DR: The experimental results show the robustness of formation of mobile robots even if the leader is manually moved to the arbitrary location, and so that the role of a leader is taken by the nearest mobile robot to the virtual leader.
References
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Book
Nonlinear Control Systems
Alberto Isidori,M. Thoma,Eduardo D. Sontag,B. W. Dickinson,A. Fettweis,J. L. Massey,J. W. Modestino +6 more
TL;DR: In this paper, a systematic feedback design theory for solving the problems of asymptotic tracking and disturbance rejection for linear distributed parameter systems is presented, which is intended to support the development of flight controllers for increasing the high angle of attack or high agility capabilities of existing and future generations of aircraft.
Asymptotic stability and feedback stabilization
TL;DR: In this paper, the authors considered the problem of determining when there exists a smooth function u(x) such that x = xo is an equilibrium point which is asymptotically stable.
Book
Introduction to Autonomous Mobile Robots
TL;DR: Bringing together all aspects of mobile robotics into one volume, Introduction to Autonomous Mobile Robots can serve as a textbook or a working tool for beginning practitioners.
Journal ArticleDOI
Nonholonomic motion planning: steering using sinusoids
TL;DR: Methods for steering systems with nonholonomic c.onstraints between arbitrary configurations are investigated and suboptimal trajectories are derived for systems that are not in canonical form.