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Figure 2. Car control in the (2, y, 0, ¢) C-space sumptions on the robot model, the hybrid control structure yields a successful mission.

Figure 2 Car control in the (2, y, 0, ¢) C-space sumptions on the robot model, the hybrid control structure yields a successful mission.

Related Figures (3)

Figure 1. The car-like mobile robot The computation of the partition for U in Table 1 for a generic robot may be computationally inten- sive. Exhaustive search techniques can be used to evaluate the projection map and avoid solving in- verse dynamics problems, e.g., computing u from q, if the control space is discretized into a small number of admissible values. At each instant, a compact set of controls, V x Q, = [—1: 0.5: 1] x [—1: 0.1: 1], is used to search for U;. The steering wheel angle is constrained to —17/2 < @ < 7/2. In all the experiments, whenever A = 0 the controls are kept as before.
Figure 1. The car-like mobile robot The computation of the partition for U in Table 1 for a generic robot may be computationally inten- sive. Exhaustive search techniques can be used to evaluate the projection map and avoid solving in- verse dynamics problems, e.g., computing u from q, if the control space is discretized into a small number of admissible values. At each instant, a compact set of controls, V x Q, = [—1: 0.5: 1] x [—1: 0.1: 1], is used to search for U;. The steering wheel angle is constrained to —17/2 < @ < 7/2. In all the experiments, whenever A = 0 the controls are kept as before.
Figure 3. Car control in the (2, y) workspace
Figure 3. Car control in the (2, y) workspace
Figure 4. Car control in the (x,y) workspace - Both controls bounded
Figure 4. Car control in the (x,y) workspace - Both controls bounded
Related topics:
EngineeringMobile RobotHybrid ArchitectureControl ManagementBehavior-Based ControlAutonomous Robot
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