Synthesis of an optimal control law for path tracking in mobile robots.
Ahmad HemamiM. G. MehrabiR. M. H. ChengPublished in: Autom. (1992)
Keyphrases
- control law
- mobile robot
- optimal control
- motion planning
- autonomous robots
- tracking error
- reference trajectory
- visual servoing
- closed loop
- trajectory tracking
- nonlinear systems
- control algorithm
- collision free
- control system
- control strategy
- dynamic programming
- path planning
- adaptive control
- dynamical systems
- external disturbances
- real time
- multi robot
- linear model
- robotic systems
- lyapunov function
- search space
- degrees of freedom
- object tracking
- particle filter
- control scheme