Global ETD Search
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Showing 1 to 5 of 5 for “"Unicycle model"”.
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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
… the behavior of a bio-inspired predator prey model is considered to stimulate a more organic response to obstacles and a moving target than existing algorithms. However, the current predator prey model has a disconnect between the desired velocities commanded and the torque signals provided to …
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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 …