Proving the stability of the rolling navigation
In this paper, we propose to study the stability of a navigation method that allows a robot to move in an unstructured environment without compass by measuring a scalar function ϕ which only depends on the position. The principle is to ask the robot to roll along an isovalue of ϕ . Using an interval...
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| Dokumentumtípus: | Cikk |
| Megjelent: |
University of Szeged, Institute of Informatics
Szeged
2023
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| Sorozat: | Acta cybernetica
26 No. 1 |
| Kulcsszavak: | Robotika, Irányításelmélet, Hibrid rendszerek, Stabilitásvizsgálat |
| Tárgyszavak: | |
| doi: | 10.14232/actacyb.295941 |
| Online Access: | http://acta.bibl.u-szeged.hu/86963 |
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| 100 | 1 | |a Bourgois Auguste | |
| 245 | 1 | 0 | |a Proving the stability of the rolling navigation |h [elektronikus dokumentum] / |c Bourgois Auguste |
| 260 | |a University of Szeged, Institute of Informatics |b Szeged |c 2023 | ||
| 300 | |a 5-34 | ||
| 490 | 0 | |a Acta cybernetica |v 26 No. 1 | |
| 520 | 3 | |a In this paper, we propose to study the stability of a navigation method that allows a robot to move in an unstructured environment without compass by measuring a scalar function ϕ which only depends on the position. The principle is to ask the robot to roll along an isovalue of ϕ . Using an interval method, we prove the stability of our closed loop system in the special case where ϕ is linear. | |
| 650 | 4 | |a Műszaki és technológiai tudományok | |
| 650 | 4 | |a Villamosmérnöki és informatikai tudományok | |
| 695 | |a Robotika, Irányításelmélet, Hibrid rendszerek, Stabilitásvizsgálat | ||
| 700 | 0 | 1 | |a Chaabouni Amine |e aut |
| 700 | 0 | 1 | |a Rauh Andreas |e aut |
| 700 | 0 | 1 | |a Jaulin Luc |e aut |
| 856 | 4 | 0 | |u http://acta.bibl.u-szeged.hu/86963/1/cybernetica_026_numb_001_005-034.pdf |z Dokumentum-elérés |