Ensuring path tracking stability of mobile robots in harsh conditions: An adaptive and predictive velocity control.
Jean-Baptiste BraconnierRoland LenainBenoît ThuilotPublished in: ICRA (2014)
Keyphrases
- mobile robot
- reference trajectory
- tracking error
- lyapunov function
- initial conditions
- autonomous robots
- robot control
- motion control
- closed loop
- sufficient conditions
- path planning
- neural network controller
- robotic systems
- kinematic model
- robot motion
- controlled environment
- mobile robot localization
- optimal control
- multi robot
- control system
- unstructured environments
- particle filtering
- real time
- path planner
- stability analysis
- external disturbances
- wheeled mobile robots
- optical flow
- particle filter
- visual servoing
- obstacle avoidance
- nonlinear systems
- control law
- object tracking
- moving target
- sensor networks
- human body
- control strategy
- indoor environments
- robot behavior
- unmanned aerial vehicles
- asymptotic stability
- unknown environments
- autonomous navigation
- robot manipulators