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...
Elmentve itt :
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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 |
| Tartalmi kivonat: | 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. |
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| Terjedelem/Fizikai jellemzők: | 5-34 |
| ISSN: | 2676-993X |