NDLI: Kinematic time-invariant control of a 2D nonholonomic vehicle

Content Provider	IEEE Xplore Digital Library
Author	Indiveri, G.
Copyright Year	1999
Description	Author affiliation: Inst. for Autonomous Intelligent Syst., German Nat. Res. Center on Inf. Technol., St. Augustin, Germany (Indiveri, G.)
Abstract	A closed loop, time-invariant and globally stable control law for a bicycle-like kinematic model is proposed. The resulting paths are smooth and the curvature bounded on the whole state space trajectories. As linear velocity can be kept arbitrary small, thus avoiding large lateral accelerations and actuator saturation problems, it is suggested that the proposed law may be also adopted for the planar control of autonomous underwater vehicles. The target configuration is always approached on a straight line and the vehicle is requested to move in only one specified forward direction thus avoiding cusps in the paths and satisfying a major requirement for the implementation of such strategy on many real systems.
Starting Page	2112
Ending Page	2117
File Size	446398
Page Count	6
File Format	PDF
ISBN	0780352505
ISSN	01912216
DOI	10.1109/CDC.1999.831231
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-12-07
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Remotely operated vehicles Mobile robots Underwater vehicles State feedback Robot kinematics Control systems Velocity control Equations Information technology Intelligent systems
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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