Strategy for designing a control system for a target-approach task by a mobile robot
[ 1 ] Katedra Sterowania i Inżynierii Systemów, Wydział Informatyki, Politechnika Poznańska | [ P ] pracownik
2014
referat
angielski
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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