Path following with an underactuated self-balancing spherical-wheel mobile robot.
Ali Nail InalÖmer MorgülUluc SaranliPublished in: ICAR (2015)
Keyphrases
- obstacle avoidance
- mobile robot
- motion planning
- path planning
- mechanical systems
- indoor environments
- mobile robot navigation
- degrees of freedom
- multi robot
- autonomous vehicles
- unknown environments
- robotic systems
- mobile robotics
- collision avoidance
- autonomous robots
- dynamic environments
- three dimensional
- autonomous navigation
- robot control
- spherical harmonics
- receding horizon
- star shaped
- wide angle
- office environment
- wheel slip
- genetic algorithm
- wheeled mobile robots
- spherical images
- formation control
- evolutionary algorithm
- unit sphere
- humanoid robot
- control law
- motion control
- primal dual
- semidefinite programming