Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 12 of 12 for “"Nonholonomic Constraints"”.
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Dynamic Instabilities in Structures with Nonholonomic Constraints
… dependent restrictions, which are known as nonholonomic constraints. These constraints are applied to elastic structures, and their nonlinear dynamics are analyzed within the framework of bifurcation and stability theory. Initially, the stability of Ziegler's double pendulum is analyzed to …
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Continuous and discrete aspects of Lagrangian field theories with nonholonomic constraints
… field theories, in particular those with nonholonomic constraints. After some introductory chapters dealing with the geometric structures inherent in field theories and the discretization of field theories, the first part of the thesis is concerned with discrete field theories taking …
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Vision based robot navigation
… set of actions that account for the robot's nonholonomic constraints. The intent of this project is to create a system that allows a robot to be able to explore and to navigate in a wide variety of environments in a way that facilitates goal-oriented tasks.
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Feedback Control and Nonlinear Controllability of Nonholonomic Systems
… we study the methods for motion planning for nonholonomic systems. These systems are characterized by nonholonomic constraints on their generalized velocities. The motion planning problem with constraints on the velocities is transformed into a control problem having fewer control inputs than …
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Smooth Feedback Planning
… feedback plans for point robots with simple nonholonomic constraints, such as unicycles and car-like robots, are described. Each of these problems is addressed using variations on a unified approach. First, the environment is decomposed into simple (often convex) cells; second, local vector …
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Parallel computational methods for constrained mechanical systems
… study of mechanical systems with holonomic and nonholonomic constraints are presented: one is an explicit solution based on generalized inverse algebra; the second solves problems of this class through the direct application of Gauss' principle of least constraint and genetic algorithms. …
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Dynamic Modeling and Control of a Car-Like Robot
… highway. System dynamics of car-like robots with nonholonomic constraints were employed in this research to create a controller for an autonomous path following vehicle. The application of working kinematic and dynamic models describing car-like robotic systems allowed the development of a …
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Wireless mosaic eyes based robot path planning and control. Autonomous robot navigation using environment intelligence with distributed vision sensors.
… (A-snake) method that complies with the robot's nonholonomic constraints for trajectory generation and motion control is introduced to generate real time robot motion commands to navigate the robot from its current position to the target position. A rolling window optimisation mechanism subject …
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Controle adaptativo robusto para um modelo desacoplado de um robô móvel
… to mobile robots (surface mobile robot) with nonholonomic constraints. It acts in the dynamics and kinematics of the robot, and it is split in two distinct parts. The first part controls the robot dynamics, using variable structure model reference adaptive controllers. The second part controls …
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Automatic Ultrasonic Headway Control for a Scaled Robotic Car
… driver. System dynamics of car-like robots with nonholonomic constraints were employed in this research to create a controller for an autonomous path following vehicle. The application of a working kinematic model describing car-like robotic systems allowed the development of a simple first order …
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Test platform design and control of a bicycle-type two-wheeled autonomous vehicle
… models are often assumed subjecting to di erent nonholonomic constraints in order to simplify the models and control algorithms. A real life autonomous bicycle faces perturbances from the road, wind, tire deformation, slipping among other external forces. Limitations of simulations will not …
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Fast numerical algorithms for optimal robot motion planning
… from the control theory. In this setting, safety constraints for either a robot or its surroundings are defined as obstacles, which are penalized using infinite cost to guarantee that tasks are performed safely. Unlike in control theory, the complexity of real-world tasks in addition with safety …