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 14 of 14 for “"Unicycle"”.
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Nonlinear control of an autonomous unicycle robot : practical issues
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1992.
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Dynamics and nonlinear, adaptive control of an autonomous unicycle
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1989.
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Ensemble control of robotic systems
… two classical robotic systems---the nonholonomic unicycle and the plate-ball manipulator---in the presence of model perturbation that scales all inputs by an unknown but bounded constant. The basic idea is to maintain the set of all possible configurations and to select inputs that reduce the size …
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Modeling and control of a self-assembled robotic swimmer
… the alternating field. We model the swimmer as a unicycle and learn a mapping from frequency to forward speed and turning rate using locally-weighted projection regression. We apply iterative linear quadratic regulation with a receding horizon to track motion primitives that could be used for path …
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Feedback control of many differential-drive robots with uniform control inputs
… position control for an ensemble of robots with unicycle kinematics under the constraint that every robot receives ex- actly the same global control inputs. Each robot in the ensemble scales its given control inputs by a bounded model parameter and thus may achieve a turning rate and forward …
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Nonholonomic Control Utilizing Kinematic Constraints of Differential and Ackermann Steering Based Platforms
… platforms whose dynamics are represented using a unicycle model. The goal of this work is to find a relatively simple approach that offers a practical alternative to bulky and expensive algorithms, but still bolsters applicability where many other lightweight algorithms are too lax. The hope is …
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Model Reference Adaptive Backstepping Control of an Autonomous Ground Vehicle
… we start by adding dynamic behavior to the unicycle model to account for the varying dynamics of the vehicle. A backstepping algorithm is developed to connect the predator-prey model commanding desired velocities to an appropriate torque controller for the motors of the vehicle. To account …
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Model Abstraction in Dynamical Systems: Application to Mobile Robot Control
… this work, the abstraction is applied to the car/unicycle system. Working towards control design, it is seen that there are certain classes of trajectories that exist in the rolling disk system that cannot be achieved by the robotic car. In order to account for these cases, the new concepts of …
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Bio-inspired vision-based evasion control: collision avoidance without distance measurement
… outlines three control strategies suitable for unicycle-like vehicles avoiding a single, unknown, dynamic uncooperative obstacle: (i) using a line-of-sight (LOS) only measurement, (ii) using a LOS measurement and time-to-collision, and (iii) a LOS, LOS rate and time-to-collision based algorithm. …
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Guaranteed avoidance of unpredictable, dynamically constrained obstacles using velocity obstacle sets
… an obstacle assuming that the dynamics fit the unicycle model, which has known constant forward speed and a maximum turn rate (sometimes called the Dubins car model). This thesis extends the Velocity Obstacle formulation by using reachability sets in place of a single "known" trajectory to find …
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Safe navigation and motion coordination control strategies for unmanned aerial vehicles
… mobile robots using a general 2D nonholonomic unicycle model that can be applied to different types of UAVs, ground vehicles and underwater vehicles considering only lateral motion. Then, the more complex problem of three-dimensional (3D) collision-free navigation in unknown/dynamic …
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Distributed, adaptive deployment for nonholonomic mobile sensor networks : theory and experiments
… found in the literature. The kinematics of the unicycle model and a nonlinear control law in polar coordinates are used in order to prove the stability of the controller applied over a team of mobile sensors. This controller is adaptive, which means that the mobile sensors are able to estimate …
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Ground Vehicles and Ranging Sensors: Structural Properties for Estimation and Control
… Gramian for a robot described by the unicycle kinematic model. We rely on this tool for a twofold aim: (a) we build the same abstract trajectory presented for the global analysis and define necessary and sufficient conditions to attain local constructibility, and (b) in an environment …