2014

paper

english

EN This paper presents a strategy for designing a control system for the mobile robots which task is to approach a target from a specific direction. The strategy is based on the concept of virtual forces combined with actual, physical forces acting upon the system. The virtual potential force field is a concatenation of a spring force and a dipol-like force. An additional braking force, based on work-energy theorem, is introduced in order to obtain virtual damping effect. Because of force-based approach, the strategy focuses on dynamical systems. The concept has been tested via simulations.

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10.1109/MESA.2014.6935541

https://ieeexplore.ieee.org/document/6935541

IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications MESA 2014, Senigallia, 10-12 September 2014

IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications MESA 2014, 10-12.09.2014, Senigallia, Italy

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