Motion planning and feedback control for a unicycle in a way point following task: The VFO approach

Maciej Michałek; Krzysztof Kozłowski

International Journal of Applied Mathematics and Computer Science (2009)

  • Volume: 19, Issue: 4, page 533-545
  • ISSN: 1641-876X

Abstract

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This paper is devoted to the way point following motion task of a unicycle where the motion planning and the closed-loop motion realization stage are considered. The way point following task is determined by the user-defined sequence of waypoints which have to be passed by the unicycle with the assumed finite precision. This sequence will take the vehicle from the initial state to the target state in finite time. The motion planning strategy proposed in the paper does not involve any interpolation of way-points leading to simplified task description and its subsequent realization. The motion planning as well as the motion realization stage are based on the Vector-Field-Orientation (VFO) approach applied here to a new task. The unique features of the resultant VFO control system, namely, predictable vehicle transients, fast error convergence, vehicle directing effect together with very simple controller parametric synthesis, may prove to be useful in practically motivated motion tasks.

How to cite

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Maciej Michałek, and Krzysztof Kozłowski. "Motion planning and feedback control for a unicycle in a way point following task: The VFO approach." International Journal of Applied Mathematics and Computer Science 19.4 (2009): 533-545. <http://eudml.org/doc/207953>.

@article{MaciejMichałek2009,
abstract = {This paper is devoted to the way point following motion task of a unicycle where the motion planning and the closed-loop motion realization stage are considered. The way point following task is determined by the user-defined sequence of waypoints which have to be passed by the unicycle with the assumed finite precision. This sequence will take the vehicle from the initial state to the target state in finite time. The motion planning strategy proposed in the paper does not involve any interpolation of way-points leading to simplified task description and its subsequent realization. The motion planning as well as the motion realization stage are based on the Vector-Field-Orientation (VFO) approach applied here to a new task. The unique features of the resultant VFO control system, namely, predictable vehicle transients, fast error convergence, vehicle directing effect together with very simple controller parametric synthesis, may prove to be useful in practically motivated motion tasks.},
author = {Maciej Michałek, Krzysztof Kozłowski},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {unicycle; way point following; motion planning; feedback control; vector fields},
language = {eng},
number = {4},
pages = {533-545},
title = {Motion planning and feedback control for a unicycle in a way point following task: The VFO approach},
url = {http://eudml.org/doc/207953},
volume = {19},
year = {2009},
}

TY - JOUR
AU - Maciej Michałek
AU - Krzysztof Kozłowski
TI - Motion planning and feedback control for a unicycle in a way point following task: The VFO approach
JO - International Journal of Applied Mathematics and Computer Science
PY - 2009
VL - 19
IS - 4
SP - 533
EP - 545
AB - This paper is devoted to the way point following motion task of a unicycle where the motion planning and the closed-loop motion realization stage are considered. The way point following task is determined by the user-defined sequence of waypoints which have to be passed by the unicycle with the assumed finite precision. This sequence will take the vehicle from the initial state to the target state in finite time. The motion planning strategy proposed in the paper does not involve any interpolation of way-points leading to simplified task description and its subsequent realization. The motion planning as well as the motion realization stage are based on the Vector-Field-Orientation (VFO) approach applied here to a new task. The unique features of the resultant VFO control system, namely, predictable vehicle transients, fast error convergence, vehicle directing effect together with very simple controller parametric synthesis, may prove to be useful in practically motivated motion tasks.
LA - eng
KW - unicycle; way point following; motion planning; feedback control; vector fields
UR - http://eudml.org/doc/207953
ER -

References

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  9. Michałek, M. and Kozłowski, K. (2009). Vector-field-orientation feedback control method for a differentially-driven vehicle, IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2008.2010406, (in print). 
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