A smooth control law for graceful motion of differential wheeled mobile robots in 2D environment.
Jong Jin ParkBenjamin KuipersPublished in: ICRA (2011)
Keyphrases
- control law
- trajectory tracking
- motion planning
- wheeled mobile robots
- control algorithm
- closed loop
- mobile robot
- autonomous robots
- nonlinear systems
- control system
- control theory
- adaptive control
- control scheme
- image sequences
- visual servoing
- control strategy
- real time
- physical constraints
- optical flow
- humanoid robot
- tracking error
- human motion
- camera motion
- dynamic environments
- path planning
- multi modal
- feature points
- linear model
- degrees of freedom
- sliding mode
- moving objects
- control method