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- W4281677543 abstract "Object servoing is becoming more and more important for service robots. Because of the nonholonomic constraints of a differential-drive service robot and the possibly changed pose of a movable object, it is challenging to design an object servoing scheme for the differential-drive service robot such that it can asymptotically park at a predefined relative pose to that of the movable object. In this paper, a novel object servoing scheme is proposed for the differential-drive service robots using switched control. Each relative online pose is first estimated by using features of the movable object, the estimated pose is an input of an object servoing friendly parking controller. The linear velocity and angular speed are then determined by the proposed controller. Simulation results validate the performance of the proposed object servoing scheme. Due to its low online computational cost, the proposed scheme can be applied for the real-time tasks of differential-drive service robots to movable objects." @default.
- W4281677543 created "2022-06-13" @default.
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- W4281677543 date "2022-06-02" @default.
- W4281677543 modified "2023-09-27" @default.
- W4281677543 title "Object servoing of differential-drive service robots using switched control" @default.
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- W4281677543 doi "https://doi.org/10.1080/23307706.2022.2065370" @default.
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