VFO feedback control using positively-invariant funnels for mobile robots travelling in polygonal worlds with bounded curvature of motion.
Tomasz GawronMaciej Marcin MichalekPublished in: AIM (2017)
Keyphrases
- feedback control
- mobile robot
- motion control
- motion planning
- closed loop
- autonomous navigation
- optimal control
- adaptive control
- path planning
- robot motion
- open loop
- fractional order
- inverted pendulum
- linear time invariant
- control system
- space time
- motion estimation
- dynamic environments
- motion model
- obstacle avoidance
- space curves
- image sequences
- multi robot
- feedback controller
- optical flow
- multiscale
- arc length
- autonomous robots
- autonomous control
- degrees of freedom
- moving objects
- machine learning
- projective geometry
- real time
- networked control systems
- gaussian curvature
- reinforcement learning
- implicit surfaces
- fourier domain
- pid controller
- feature points
- affine transformation
- mathematical model