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An Infinite-Norm Algorithm for Joystick Kinematic Control of Two-Wheeled Vehicles

1
Tecnologico de Monterrey, Campus Monterrey, Eugenio Garza Sada 2501, Monterrey 64849, Nuevo León, Mexico
2
Department of Industrial Manufacturing and Systems Engineering, University of Texas, El Paso 500 West University Avenue, El Paso, TX 79968, USA
3
Carretera a Pueblo Nuevo KM 3, Universidad Politécnica del Mar y la Sierra, Potrerillos Del Norte, Tayoltita 82740, Sinaloa, Mexico
4
Tecnologico de Monterrey, Eugenio Garza Sada 2501, Monterrey 64849, Nuevo León, Mexico
5
Escuela de Ingeniería y Ciencias, Instituto Tecnológico y de Estudios Superiores de Monterrey (ITESM), Enrique Mazón López 965, Hermosillo 83000, Sonora, Mexico
6
Deparment of Mechatronics, Instituto Tecnológico de Nuevo León, Eloy Cavazos 2001, Guadalupe 67170, Nuevo León, Mexico
7
Department of Mechatronics, Universidad Politécnica de Sinaloa (UPSIN), Carretera Municipal Libre Mazatlán Higueras Km 3, Mazatlán 82199, Sinaloa, Mexico
*
Author to whom correspondence should be addressed.
Electronics 2018, 7(9), 164; https://doi.org/10.3390/electronics7090164
Received: 25 July 2018 / Revised: 20 August 2018 / Accepted: 23 August 2018 / Published: 27 August 2018
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Abstract

In this paper, we propose an algorithm based on the mathematical p-norm which has been applied to improve both the traction power and the trajectory smoothness of joystick-controlled two-wheeled vehicles. This algorithm can theoretically supply 100% of available power to each of the actuators if the infinity-norm is used, i.e., when the p-norm tends to infinity. Furthermore, a geometrical model using the radius of curvature has been developed to track the effect of the proposed algorithm on the vehicle’s trajectory. Findings in this research work contribute to the kinematic control and path planning algorithms for vehicles actuated by two wheels, such as tanks and electric wheelchairs, both of vital importance for the security and heath industry. Computer simulations and experiments with a real robot are performed to verify the results. View Full-Text
Keywords: joystick; two-wheeled; terrestrial vehicle; path planning; infinity norm; p-norm; kinematic control; navigation; actuation systems; maneuver algorithm joystick; two-wheeled; terrestrial vehicle; path planning; infinity norm; p-norm; kinematic control; navigation; actuation systems; maneuver algorithm
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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MDPI and ACS Style

Said, A.; Davizón, Y.; Soto, R.; Félix-Herrán, C.; Hernández-Santos, C.; Espino-Román, P. An Infinite-Norm Algorithm for Joystick Kinematic Control of Two-Wheeled Vehicles. Electronics 2018, 7, 164.

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