Invariant manifold-based stabilizing controllers for nonholonomic mobile robots.
Yin Yin AyeKeigo WatanabeShoichi MaeyamaIsaku NagaiPublished in: Artif. Life Robotics (2015)
Keyphrases
- mobile robot
- trajectory tracking control
- path planning
- motion planning
- control law
- nonlinear systems
- obstacle avoidance
- indoor environments
- collision avoidance
- dynamic environments
- sensory information
- autonomous robots
- unknown environments
- motion control
- tracking control
- low dimensional
- control system
- reinforcement learning
- manifold learning
- affine transformation
- affine invariant
- multi robot
- adaptive control
- euclidean space
- robotic systems
- controller design
- control strategy
- dimensionality reduction
- trajectory planning