書誌事項
- タイトル別名
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- Image-based Robust Arbitrary Path Following of Nonholonomic Mobile Robots
- ヒホロノミック イドウ ロボット ノ ガゾウ ニ モトズク ロバスト ナ ニンイ キョクセン ツイジュウ セイギョ
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説明
Wheeled mobile robots are known as one of nonholonomic constrained systems and many control strategies have been proposed. As one topic of them, image-based control of mobile robots has been paid much attention because of its robustness against modeling or calibration errors. In this paper, two image-based path following control methods are proposed to follow a target curve marked on the ground. One is a basic controller based on a Lyapunov's direct method and the other is designed by an inverse optimal approach and has robustness to a class of uncertainties. Some simulations and experiments are performed to show their performance.
収録刊行物
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- 計測自動制御学会論文集
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計測自動制御学会論文集 47 (5), 238-246, 2011
公益社団法人 計測自動制御学会
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詳細情報 詳細情報について
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- CRID
- 1390001204504796416
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- NII論文ID
- 10029250803
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- NII書誌ID
- AN00072392
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- BIBCODE
- 2011TSICE..47..238K
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- ISSN
- 18838189
- 04534654
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- NDL書誌ID
- 11180452
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- NDLサーチ
- Crossref
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- OpenAIRE
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