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Trajectory tracking for a mobile robot with skid-slip compensation in the Vector-Field-Orientation control system

Maciej Michałek, Piotr Dutkiewicz, Marcin Kiełczewski, Dariusz Pazderski (2009)

International Journal of Applied Mathematics and Computer Science

The article is devoted to a motion control problem for a differentially driven mobile robot in the task of trajectory tracking in the presence of skid-slip effects. The kinematic control concept presented in the paper is the Vector Field Orientation (VFO) feedback approach with a nonlinear feed-forward skid-slip influence compensation scheme. The VFO control law guarantees asymptotic convergence of the position tracking error to zero in spite of the disturbing influence of skid-slip phenomena. The...

Tree and local computations in a cross–entropy minimization problem with marginal constraints

Francesco M. Malvestuto (2010)

Kybernetika

In probability theory, Bayesian statistics, artificial intelligence and database theory the minimum cross-entropy principle is often used to estimate a distribution with a given set P of marginal distributions under the proportionality assumption with respect to a given “prior” distribution q . Such an estimation problem admits a solution if and only if there exists an extension of P that is dominated by q . In this paper we consider the case that q is not given explicitly, but is specified as the...

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