تقرير
Total Turning and Motion Range Prediction for Safe Unicycle Control
| العنوان: | Total Turning and Motion Range Prediction for Safe Unicycle Control |
|---|---|
| المؤلفون: | Tarshahani, Abdulla, İşleyen, Aykut, Arslan, Ömür |
| سنة النشر: | 2023 |
| المجموعة: | Computer Science Mathematics |
| مصطلحات موضوعية: | Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control, Mathematics - Dynamical Systems, 68T40, 70E60, 93B52, 70F25, 70F35, I.2.9 |
| الوصف: | Safe and smooth motion control is essential for mobile robots when performing various automation tasks around obstacles, especially in the presence of people and other mobile robots. The total turning and space used by a mobile robot while moving towards a specified goal position play a crucial role in determining the required control effort and complexity. In this paper, we consider a standard unicycle control approach based on angular feedback linearization and provide an explicit analytical measure for determining the total turning effort during unicycle control in terms of unicycle state and control gains. We show that undesired spiral oscillatory motion around the goal position can be avoided by choosing a higher angular control gain compared to the linear control gain. Accordingly, we establish an accurate, explicit triangular motion range bound on the closed-loop unicycle trajectory using the total turning effort. The improved accuracy in motion range prediction results from a stronger dependency on the unicycle state and control parameters. To compare alternative circular, conic, and triangular motion range prediction approaches, we present an application of the proposed unicycle motion control and motion prediction methods for safe unicycle path following around obstacles in numerical simulations. Comment: 12 pages, 6 figures, 1 table, an extended version of a paper submitted for publication |
| نوع الوثيقة: | Working Paper |
| URL الوصول: | http://arxiv.org/abs/2311.12532 |
| رقم الأكسشن: | edsarx.2311.12532 |
| قاعدة البيانات: | arXiv |
| الوصف غير متاح. |