Title :
Shared-control for the kinematic model of a mobile robot
Author :
Jingjing Jiang ; Astolfi, Alessandro
Author_Institution :
Dept. of Electr. & Electron. Eng., Imperial Coll. London, London, UK
Abstract :
This paper presents a shared-control algorithm for the kinematic model of a mobile robot. The set of feasible position of the robot is defined by a group of linear inequalities. The shared-control strategy is based on a hysteresis switch and its properties are established by a Lyapunov-like analysis. Simulation results illustrate the effectiveness of the algorithm.
Keywords :
Lyapunov methods; hysteresis; mobile robots; robot kinematics; Lyapunov-like analysis; hysteresis switch; linear inequalities; mobile robot kinematic model; shared-control algorithm; Adaptive control; Equations; Kinematics; Mobile robots; Robot kinematics; Trajectory;
Conference_Titel :
Decision and Control (CDC), 2014 IEEE 53rd Annual Conference on
Conference_Location :
Los Angeles, CA
Print_ISBN :
978-1-4799-7746-8
DOI :
10.1109/CDC.2014.7039360
