Kinematic path-following control of a mobile robot on arbitrary surface.
Gavin J. KaneRobert BoeseckeJörg RaczkowskyHeinz WörnPublished in: ICRA (2010)
Keyphrases
- mobile robot
- obstacle avoidance
- motion control
- robot control
- autonomous robots
- visual servoing
- robotic systems
- three dimensional
- trajectory tracking control
- path planning
- autonomous vehicles
- wheeled mobile robots
- robot motion
- control system
- physical constraints
- kinematic model
- dynamic environments
- semidefinite programming
- control method
- control strategy
- configuration space
- end effector
- office environment
- indoor environments
- multi robot
- degrees of freedom
- range data
- mechanical systems