Artificial vector fields for robot convergence and circulation of time-varying curves in n-dimensional spaces
This paper addresses the problem of controlling a single mobile robot to converge smoothly to a pre-specified closed curve. Once in the curve, the robot remains circulating along it. The main motivation for this is the control of unmanned airplanes, where the robot cannot converge to a single point....
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| creator | Goncalves, V.M. Pimenta, L. Maia, C.A. Pereira, G.A.S. |
| description | This paper addresses the problem of controlling a single mobile robot to converge smoothly to a pre-specified closed curve. Once in the curve, the robot remains circulating along it. The main motivation for this is the control of unmanned airplanes, where the robot cannot converge to a single point. Our control law is based on an artificial vector field that allows for the generalization to time-varying curves defined in n-dimensional spaces. We also present results that may be used to control mobile robots moving with constant speed. We devise convergence proofs and present simulations that verify the proposed approach. |
| doi_str_mv | 10.1109/ACC.2009.5160350 |
| format | Conference Proceeding |
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We devise convergence proofs and present simulations that verify the proposed approach.</description><subject>Actuators</subject><subject>Airplanes</subject><subject>Convergence</subject><subject>Limit-cycles</subject><subject>Mobile robots</subject><subject>Monitoring</subject><subject>Orbital robotics</subject><subject>Robot control</subject><subject>Robustness</subject><subject>Surveillance</subject><issn>0743-1619</issn><issn>2378-5861</issn><isbn>142444523X</isbn><isbn>9781424445233</isbn><isbn>1424445248</isbn><isbn>9781424445240</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2009</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNpFUEtLAzEYjC9wW70LXvIHUr-8m2NZfEHBi4K3kmaTEtlmS7Jd8N8bseBpBub7hplB6I7CglIwD6u2XTAAs5BUAZdwhmZUMCGEZGJ5jhrG9ZLIpaIX_wL_vEQNaMEJVdRco1kpXwDUGAUN2q_yGEN00fZ48m4cMg7R913BodI8bIcRuyFNPu98ch7b1GEXszv2doxDwkPAY9x7Mtn8HdMOu2OefMEx4US6KqRSr6p3OVjnyw26CrYv_vaEc_Tx9PjevpD12_Nru1qTSLUcibESZBBSM-ZBgQQjlWZbYMI5yZwNXDjltopaq_XvLrqrvPatHx13wOfo_s83eu83hxz3Nd7mtBn_AbJZXI8</recordid><startdate>200906</startdate><enddate>200906</enddate><creator>Goncalves, V.M.</creator><creator>Pimenta, L.</creator><creator>Maia, C.A.</creator><creator>Pereira, G.A.S.</creator><general>IEEE</general><scope>6IE</scope><scope>6IH</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIO</scope></search><sort><creationdate>200906</creationdate><title>Artificial vector fields for robot convergence and circulation of time-varying curves in n-dimensional spaces</title><author>Goncalves, V.M. ; Pimenta, L. ; Maia, C.A. ; Pereira, G.A.S.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-9a505f45722e0605095672b024cc52caf34c6cb61aa7711097d61a142572d3c03</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2009</creationdate><topic>Actuators</topic><topic>Airplanes</topic><topic>Convergence</topic><topic>Limit-cycles</topic><topic>Mobile robots</topic><topic>Monitoring</topic><topic>Orbital robotics</topic><topic>Robot control</topic><topic>Robustness</topic><topic>Surveillance</topic><toplevel>online_resources</toplevel><creatorcontrib>Goncalves, V.M.</creatorcontrib><creatorcontrib>Pimenta, L.</creatorcontrib><creatorcontrib>Maia, C.A.</creatorcontrib><creatorcontrib>Pereira, G.A.S.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan (POP) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP) 1998-present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Goncalves, V.M.</au><au>Pimenta, L.</au><au>Maia, C.A.</au><au>Pereira, G.A.S.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Artificial vector fields for robot convergence and circulation of time-varying curves in n-dimensional spaces</atitle><btitle>2009 American Control Conference</btitle><stitle>ACC</stitle><date>2009-06</date><risdate>2009</risdate><spage>2012</spage><epage>2017</epage><pages>2012-2017</pages><issn>0743-1619</issn><eissn>2378-5861</eissn><isbn>142444523X</isbn><isbn>9781424445233</isbn><eisbn>1424445248</eisbn><eisbn>9781424445240</eisbn><abstract>This paper addresses the problem of controlling a single mobile robot to converge smoothly to a pre-specified closed curve. 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| ispartof | 2009 American Control Conference, 2009, p.2012-2017 |
| issn | 0743-1619 2378-5861 |
| language | eng |
| recordid | cdi_ieee_primary_5160350 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Actuators Airplanes Convergence Limit-cycles Mobile robots Monitoring Orbital robotics Robot control Robustness Surveillance |
| title | Artificial vector fields for robot convergence and circulation of time-varying curves in n-dimensional spaces |
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