22,413 research outputs found
Trajectory tracking of a differentially driven wheeled mobile robot in the presence of obstacles
A trajectory following and obstacle avoidance mechanism for a mobile robot is presented for situations where the robot has to follow a specific target trajectory but the task might not be completely possible due to obstacles in the way, which the robot must avoid. After avoiding an obstacle, the robot should catch up with the target trajectory. In the proposed system, this objective is reached by combining a nonlinear control method with an Artificial Potential Function method, leading to trajectory tracking control with obstacle avoidance capabilities.peer-reviewe
Trajectory tracking in the presence of obstacles using the limit cycle navigation method
This paper proposes a system for effecting trajectory tracking in combination with obstacle avoidance in mobile
robotic systems. In robotics research, these two situations
are typically considered as separate problems. This work
approaches the problem by integrating classical trajectory following control schemes with Kim et al.’s Limit Cycle
Navigation method for obstacle avoidance. The use of Artificial Potential Function methods for obstacle avoidance is
purposely avoided so as to prevent the well-known problems
of local minima associated with such schemes. The paper
also addresses the problem of non-global obstacle sensing and
proposes modifications to Kim et al.’s method for handling
multiple, overlapping obstacles under local sensing conditions.peer-reviewe
Performance, robustness and effort cost comparison of machine learning mechanisms in FlatLand
This paper presents the first stage of research into
a multi-agent complex environment, called “FlatLand” aiming at
emerging complex and adaptive obstacle-avoidance and target achievement behaviors by use of a variety of learning mechanisms. The presentation includes a detailed description of the
FlatLand simulated world, the learning mechanisms used as
well as an efficient method for comparing the mechanisms’
performance, robustness and required computational effort.peer-reviewe
Multilayer perceptron dual adaptive control for mobile robots
This paper presents a novel dual adaptive dynamic controller for trajectory tracking of nonholonomic wheeled mobile robots. The controller is developed in discrete-time and the robot's nonlinear dynamic functions are assumed to be unknown. A sigmoidal multilayer perceptron neural network is employed for function approximation, and its weights are estimated stochastically in real-time. In contrast to adaptive certainty equivalence controllers hitherto published for mobile robots, the proposed control law takes into consideration the estimates' uncertainty, thereby leading to improved tracking performance. The proposed method is verified by realistic simulations and Monte Carlo analysis.non peer-reviewe
A review on multi-robot systems categorised by application domain
Literature reviews on Multi-Robot Systems (MRS) typically focus on fundamental technical aspects, like coordination and communication, that need to be considered in order to coordinate a team of robots to perform a given task effectively and efficiently. Other reviews only consider works that aim to address a specific problem or one particular application of MRS. In contrast, this paper presents a survey of recent research works on MRS and categorises them according to their application domain. Furthermore, this paper compiles a number of seminal review works that have proposed specific taxonomies in classifying fundamental concepts, such as coordination, architecture and communication, in the field of MRS.peer-reviewe
Computing Parity Space Residuals’ Computational Form With MIMO Predictive Models
Trabalho apresentado em 12th Mediterranean Conference on Control and Automation MED’04, 6-9 de Junho de 2004, Kusadasi, Turquia.N/
Model-based versus model-free control designs for improving microalgae growth in a closed photobioreactor: Some preliminary comparisons
Controlling microalgae cultivation, i.e., a crucial industrial topic today,
is a challenging task since the corresponding modeling is complex, highly
uncertain and time-varying. A model-free control setting is therefore
introduced in order to ensure a high growth of microalgae in a continuous
closed photobioreactor. Computer simulations are displayed in order to compare
this design to an input-output feedback linearizing control strategy, which is
widely used in the academic literature on photobioreactors. They assess the
superiority of the model-free standpoint both in terms of performances and
implementation simplicity.Comment: The 24th Mediterranean Conference on Control and Automation (MED'16),
Athens, Greece (June 21-24, 2016
Delta Hedging in Financial Engineering: Towards a Model-Free Approach
Delta hedging, which plays a crucial r\^ole in modern financial engineering,
is a tracking control design for a "risk-free" management. We utilize the
existence of trends in financial time series (Fliess M., Join C.: A
mathematical proof of the existence of trends in financial time series, Proc.
Int. Conf. Systems Theory: Modelling, Analysis and Control, Fes, 2009. Online:
http://hal.inria.fr/inria-00352834/en/) in order to propose a model-free
setting for delta hedging. It avoids most of the shortcomings encountered with
the now classic Black-Scholes-Merton framework. Several convincing computer
simulations are presented. Some of them are dealing with abrupt changes, i.e.,
jumps.Comment: 18th Mediterranean Conference on Control and Automation, Marrakech :
Morocco (2010
Geometric Surface-Based Tracking Control of a Quadrotor UAV
New quadrotor UAV control algorithms are developed, based on nonlinear
surfaces composed of tracking errors that evolve directly on the nonlinear
configuration manifold, thus inherently including in the control design the
nonlinear characteristics of the SE(3) configuration space. In particular,
geometric surface-based controllers are developed and are shown, through
rigorous stability proofs, to have desirable almost global closed loop
properties. For the first time in regards to the geometric literature, a region
of attraction independent of the position error is identified and its effects
are analyzed. The effectiveness of the proposed "surface based" controllers are
illustrated by simulations of aggressive maneuvers in the presence of
disturbances and motor saturation.Comment: 2018 26th Mediterranean Conference on Control and Automation (MED
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