Nonholonomic mobile

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  • This paper addresses an optimal cooperative tracking control method with disturbance rejection in the presence of no knowledge of internal dynamics for multi-nonholonomic mobile robot (NMR) systems. Unlike most existing methods, our method integrates kinematic and dynamic controllers into one using adaptive dynamic programming techniques based on the concept of differential game theory and neural networks, and is therefore entirely optimal.

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  • MOBILE ROBOTS – CURRENT TRENDS Edited by Zoran Gacovski .Mobile Robots – Current Trends Edited by Zoran Gacovski Published by InTech Janeza Trdine 9, 51000 Rijeka, Croatia Copyright © 2011 InTech All chapters are Open Access distributed under the Creative Commons Attribution 3.0 license, which permits to copy, distribute, transmit, and adapt the work in any medium, so long as the original work is properly cited.

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  • Tuyển tập báo cáo các nghiên cứu khoa học quốc tế ngành hóa học dành cho các bạn yêu hóa học tham khảo đề tài: Research Article Pure-Pursuit Reactive Path Tracking for Nonholonomic Mobile Robots with a 2D Laser Scanner

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  • In this paper, Lagrange formula is employed with the purpose of modelling both the kinematics and dynamics of a nonholonomic wheeled mobile robot (WMR) subject to unknown wheel slips, model uncertainties such as unstructured unmodelled dynamic components, and unknown external disturbances such as unknown external forces. Afterwards, an adaptive tracking controller based on a radial basis function neural network (RBFNN) with an online weight tuning algorithm is proposed for tracking a predefined trajectory.

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  • The car-sharing concept originated in Switzerland in 1987, and one of the largest car-sharing opera- tions in the world is still run by Mobility Switzerland, in close partnership with the Swiss Federal Railway. It runs a fleet of 1,650 cars in more than 930 locations, and has enrolled more than 58,000 members. As well as its size, the Swiss program has enjoyed enormous success in influencing travel behavior. Surveys show that members who gave up their car after joining the car-sharing program increased their transit usage by 35%, from 3,560 miles per year to 4,810 miles per year.

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  • 26 Mobile Robotic Systems 26.1 26.2 Introduction Fundamental Issues Definition of a Mobile Robot • Stanford Cart • Intelligent Vehicle for Lunar/Martian Robotic Missions • Mobile Robots — Nonholonomic Systems Nenad M. Kircanski University of Toronto 26.3 26.4 Dynamics of Mobile Robots Control of Mobile Robots 26.1 Introduction This subsection is devoted to modeling and control of mobile robotic systems. Because a mobile robot can be used for exploration of unknown environments due to its partial or complete autonomy is of fundamental importance.

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  • The speci c robotic system considered is a vehicle whose kinematic model approximates the mobility of a car. The con guration of this robot is repre- sented by the position and orientation of its main body in the plane, and by the angle of the steering wheels. Two velocity inputs are available for motion control. This situation covers in a realistic way many of the existing robotic vehicles. Moreover, the car-like robot is the simplest nonholonomic vehicle that displays the general characteristics and the dicult maneuverability of higher- dimensional systems, e.g.

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  • The nonholonomic nature of the car-like robot is related to the assump- tion that the robot wheels roll without slipping. This implies the presence of a nonintegrable set of rst-order di erential constraints on the con guration variables. While these nonholonomic constraints reduce the instantaneous mo- tions that the robot can perform, they still allow global controllability in the con guration space. This unique feature leads to some challenging problems in the synthesis of feedback controllers, which parallel the new research issues arising in nonholonomic motion planning.

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