Robust uncalibrated visual stabilization for nonholonomic mobile robots
Sign Up to like & getrecommendations! Published in 2020 at "Advanced Robotics"
DOI: 10.1080/01691864.2020.1717993
Abstract: ABSTRACT This paper proposes a new image-based visual servoing scheme for stabilizing the nonholonomic mobile robot equipped with a monocular vision system to the desired configuration. In the vision system, neither intrinsic nor extrinsic camera… read more here.
Keywords: robust uncalibrated; system; camera parameters; nonholonomic mobile ... See more keywords
ADMM-Based Adaptive Sampling Strategy for Nonholonomic Mobile Robotic Sensor Networks
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DOI: 10.1109/jsen.2021.3072390
Abstract: This paper discusses the adaptive sampling problem in a nonholonomic mobile robotic sensor network for efficiently monitoring a spatial field. It is proposed to employ Gaussian process to model a spatial phenomenon and predict it… read more here.
Keywords: problem; optimization problem; nonholonomic mobile; adaptive sampling ... See more keywords
Adaptive Tracking and Stabilization of Nonholonomic Mobile Robots With Input Saturation
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Automatic Control"
DOI: 10.1109/tac.2021.3129158
Abstract: This article investigates the control problems of tracking and stabilization simultaneously for nonholonomic mobile robots subjected to input constraints and parameter uncertainties. A saturated time-varying controller is developed by applying a novel error state modification… read more here.
Keywords: stabilization nonholonomic; adaptive tracking; mobile robots; nonholonomic mobile ... See more keywords
MPC-Based Cooperative Enclosing for Nonholonomic Mobile Agents Under Input Constraint and Unknown Disturbance
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Cybernetics"
DOI: 10.1109/tcyb.2022.3164713
Abstract: In this article, a model predictive control (MPC)-based cooperative target enclosing control approach is investigated for multiple nonholonomic mobile agents with input constraints and unknown disturbances. The agents are required to move along a desired… read more here.
Keywords: mpc based; control; nonholonomic mobile; mobile agents ... See more keywords
Nonlinear model predictive control for trajectory tracking of nonholonomic mobile robots
Sign Up to like & getrecommendations! Published in 2018 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/1729881418760461
Abstract: Trajectory tracking for autonomous vehicles is usually solved by designing control laws that make the vehicles track predetermined feasible trajectories based on the trajectory error. This type of approach suffers from the drawback that usually… read more here.
Keywords: trajectory; nonlinear model; control; nonholonomic mobile ... See more keywords