Matches in SemOpenAlex for { <https://semopenalex.org/work/W2015290589> ?p ?o ?g. }
Showing items 1 to 76 of
76
with 100 items per page.
- W2015290589 abstract "This paper presents a novel control approach for trajectory tracking control of nonholonomic Wheeled Mobile Robots (WMRs) which is named “Lyapunov-based Guidance Control (LGC)”. To date, various methodologies have been suggested for solving this problem. However, the proposed kinematical method of this investigation has some advantages in terms of its mathematical simplicity, and good tracking performance due to the developed “Guidance” scheme. The controller is designed to guide the robot to its proper orientation at each instant. In this paper, a heading angle scheduler is first proposed which provides an appropriate heading angle of the mobile robot at each instant. Then, to adjust the linear and angular velocities of the robot, a set of control laws is proposed based on the appropriate heading angle. It is also proved that the closed-loop control system is stable. The achieved results of the proposed scheme are compared with those of Model Predictive Control (MPC), Linear State Tracking Control (LSTC) and Nonlinear State Tracking Control (NSTC) methods. The experimental implementation results obtained through a WMR test-bed show the effectiveness of the proposed kinematical controller." @default.
- W2015290589 created "2016-06-24" @default.
- W2015290589 creator A5061379171 @default.
- W2015290589 creator A5071306356 @default.
- W2015290589 date "2012-07-01" @default.
- W2015290589 modified "2023-10-16" @default.
- W2015290589 title "Trajectory tracking of Wheeled Mobile Robots: A kinematical approach" @default.
- W2015290589 cites W1970299051 @default.
- W2015290589 cites W2010269338 @default.
- W2015290589 cites W2036101221 @default.
- W2015290589 cites W2075965037 @default.
- W2015290589 cites W2082073189 @default.
- W2015290589 cites W2089052752 @default.
- W2015290589 cites W2120944681 @default.
- W2015290589 cites W2122561468 @default.
- W2015290589 cites W2130535256 @default.
- W2015290589 cites W2163290424 @default.
- W2015290589 cites W2163295544 @default.
- W2015290589 cites W2169620359 @default.
- W2015290589 cites W2370435499 @default.
- W2015290589 doi "https://doi.org/10.1109/mesa.2012.6275574" @default.
- W2015290589 hasPublicationYear "2012" @default.
- W2015290589 type Work @default.
- W2015290589 sameAs 2015290589 @default.
- W2015290589 citedByCount "15" @default.
- W2015290589 countsByYear W20152905892012 @default.
- W2015290589 countsByYear W20152905892013 @default.
- W2015290589 countsByYear W20152905892014 @default.
- W2015290589 countsByYear W20152905892016 @default.
- W2015290589 countsByYear W20152905892019 @default.
- W2015290589 countsByYear W20152905892020 @default.
- W2015290589 countsByYear W20152905892021 @default.
- W2015290589 crossrefType "proceedings-article" @default.
- W2015290589 hasAuthorship W2015290589A5061379171 @default.
- W2015290589 hasAuthorship W2015290589A5071306356 @default.
- W2015290589 hasConcept C121332964 @default.
- W2015290589 hasConcept C1276947 @default.
- W2015290589 hasConcept C13662910 @default.
- W2015290589 hasConcept C154945302 @default.
- W2015290589 hasConcept C15744967 @default.
- W2015290589 hasConcept C19417346 @default.
- W2015290589 hasConcept C19966478 @default.
- W2015290589 hasConcept C2775924081 @default.
- W2015290589 hasConcept C2775936607 @default.
- W2015290589 hasConcept C41008148 @default.
- W2015290589 hasConcept C47446073 @default.
- W2015290589 hasConcept C90509273 @default.
- W2015290589 hasConceptScore W2015290589C121332964 @default.
- W2015290589 hasConceptScore W2015290589C1276947 @default.
- W2015290589 hasConceptScore W2015290589C13662910 @default.
- W2015290589 hasConceptScore W2015290589C154945302 @default.
- W2015290589 hasConceptScore W2015290589C15744967 @default.
- W2015290589 hasConceptScore W2015290589C19417346 @default.
- W2015290589 hasConceptScore W2015290589C19966478 @default.
- W2015290589 hasConceptScore W2015290589C2775924081 @default.
- W2015290589 hasConceptScore W2015290589C2775936607 @default.
- W2015290589 hasConceptScore W2015290589C41008148 @default.
- W2015290589 hasConceptScore W2015290589C47446073 @default.
- W2015290589 hasConceptScore W2015290589C90509273 @default.
- W2015290589 hasLocation W20152905891 @default.
- W2015290589 hasOpenAccess W2015290589 @default.
- W2015290589 hasPrimaryLocation W20152905891 @default.
- W2015290589 hasRelatedWork W2002316083 @default.
- W2015290589 hasRelatedWork W2021081785 @default.
- W2015290589 hasRelatedWork W2082214929 @default.
- W2015290589 hasRelatedWork W2592302855 @default.
- W2015290589 hasRelatedWork W2735800644 @default.
- W2015290589 hasRelatedWork W2792333933 @default.
- W2015290589 hasRelatedWork W2989775562 @default.
- W2015290589 hasRelatedWork W3119646977 @default.
- W2015290589 hasRelatedWork W3128114094 @default.
- W2015290589 hasRelatedWork W4200570312 @default.
- W2015290589 isParatext "false" @default.
- W2015290589 isRetracted "false" @default.
- W2015290589 magId "2015290589" @default.
- W2015290589 workType "article" @default.