Controllers based on an invariant manifold approach for stabilizing a nonholonomic mobile robot.
Yin Yin AyeKeigo WatanabeShoichi MaeyamaIsaku NagaiPublished in: SCIS&ISIS (2014)
Keyphrases
- mobile robot
- trajectory tracking control
- path planning
- indoor environments
- obstacle avoidance
- motion planning
- collision avoidance
- nonlinear systems
- dynamic environments
- control law
- autonomous robots
- inverted pendulum
- control system
- sensory information
- manifold learning
- affine invariant
- multi robot
- tracking control
- mobile robotics
- reinforcement learning
- robotic systems
- map building
- adaptive control
- affine transformation
- low dimensional
- autonomous navigation
- motion control
- iterative learning control
- high dimensional
- topological map
- simultaneous localization and mapping
- sliding mode
- riemannian manifolds
- geodesic distance
- control strategy