In the traditional shearer-positioning method, an odometer is used to assist the forward velocity correction of the inertial navigation system, but it cannot restrain the system’s error divergence. For this reason, this paper proposes a shearer...
This paper addresses a novel spherical formation tracking control problem of multiple UAVs with time-varying delays in the directed communication network, where the dynamics of each UAV is non-holonomic and in the presence of spatiotemporal flowfield...
The harmonic potential field of an incompressible nonviscous fluid governed by the Laplace’s Equation has shown its potential for being beneficial to autonomous unmanned vehicles to generate smooth, natural-looking, and predictable paths for ob...
Aiming at the problem that the pseudo-velocity measurement noise of non-holonomic constraints (NHCs) in the integrated navigation of vehicle-mounted a global navigation satellite system/inertial navigation system (GNSS/INS) is time-varying and thick-...
Non-holonomic wheeled robots (NWR) comprise a type of robotic system; they use wheels for movement and offer several advantages over other types. They are efficient, highly, and maneuverable, making them ideal for factory automation, logistics, trans...
Mechanical systems that consist of a four-wheeled or two-wheeled robot with Mecanum wheels and a two-wheeled trailer with conventional wheels are considered. The kinematic characteristics of the mechanical systems under consideration of holonomic and...
The main objective of this work is to address problems related to the speed control of mobile robots with non-holonomic constraints and differential traction—specifically, robots for football games in the VSS (Very Small Size) category. To achi...
In this research, a new Map/INS/Wi-Fi integrated system for indoor location-based service (LBS) applications based on a cascaded Particle/Kalman filter framework structure is proposed. Two-dimension indoor map information, together with measurements...
A dynamical system submitted to holonomic constraints is Hamiltonian only if considered in the reduced phase space of its generalized coordinates and momenta, which need to be defined ad hoc in each particular case. However, specially in molecular si...
Most visual simultaneous localization and mapping (SLAM) systems are based on the assumption of a static environment in autonomous vehicles. However, when dynamic objects, particularly vehicles, occupy a large portion of the image, the localization a...
The increasing heterogeneity of wheeled mobile robot (WMR) architectures, including differential-drive, Ackermann, omnidirectional, and reconfigurable platforms, poses a major challenge for defining a unified, scalable kinematic representation. Most...
This research aims to investigate the Noether symmetry and conserved quantity for the fractional Lagrange system with nonholonomic constraints, which are based on the Herglotz principle. Firstly, the fractional-order Herglotz principle is given, and...
The aim of this paper is to construct Noether invariants for Lagrangian non-holonomic dynamics with affine or nonlinear constraints, considered to be adapted to a foliation on the base manifold. A set of illustrative examples is given, including line...
Aiming at the formation and maintenance of the multiple formations of nonholonomic constrained multi-robots, a leader-follower formation control method under the grouping consistency is proposed on the trajectory tracking of a nonholonomic constraine...
This paper proposes a method to solve the problem of localization and mapping of a two-wheeled inverted pendulum (TWIP) robot on approximately flat ground using a Lidar–IMU–Odometer system. When TWIP is in motion, it is constrained by the...
This paper proposes a path planning and tracking control algorithm for multi-autonomous mobile robot (multi-AMR) systems that addresses the challenges posed by AMRs with a kinematic model. The proposed path planning algorithm is divided into two laye...
This article delves into the problem of fuzzy adaptive event-triggered (ET) formation control for nonholonomic mobile robots (NMRs) subject to full-state constraints. Fuzzy logic systems (FLSs) are employed to identify the unknown nonlinear functions...
A tool for path following for a mobile manipulator is herein presented. The control algorithm is obtained by projecting a local frame associated with the robot onto the desired path, thus obtaining a non-orthogonal moving frame. The Serret–Fren...
Sets in the parameter space corresponding to complex exceptional points (EP) have high codimension, and by this reason, they are difficult objects for numerical location. However, complex EPs play an important role in the problems of the stability of...
Given a stress-free system as a perfect crystal with points or atoms ordered in a three dimensional lattice in the Euclidean reference space, any defect, external force or heterogeneous temperature change in the material connection that induces stres...
In the context of holonomic systems, the identification of virtual displacements is clear and consolidated. This provides the possibility, once the class of displacements have been coupled with Newton’s equations, for us to write the correct eq...
Ant Colony Optimization (ACO) has been widely used in engineering implementation due to its simplicity and effectiveness. However, it often faces challenges such as slow convergence, susceptibility to local optima, and generating paths with excessive...
Modeling of dynamic systems with nonholonomic constraints usually involves constraint multipliers. Consequently, the dynamic equations in the laboratory coordinate system have a complex form, and as a result, the corresponding numerical algorithms ne...
This paper presents a nonlinear, universal, path-following controller for Wheeled Mobile Robots (WMRs). This approach, unlike previous algorithms, solves the path-following problem for all common categories of holonomic and nonholonomic WMRs, such as...
This paper proposes a precise motion control strategy for a three-wheeled mobile robot with two driven rear wheels and one steered front wheel so that an obstacle avoidance motion task is able to be well implemented. Initially, the motion laws under...
In this paper, two systematic control design strategies are proposed for strict-feedback nonholonomic systems with full-state constraints to solve stabilization and adaptive stabilization problems. The stabilization schemes involve the introduction o...
We propose a variational formulation for the nonequilibrium thermodynamics of discrete open systems, i.e., discrete systems which can exchange mass and heat with the exterior. Our approach is based on a general variational formulation for systems wit...
The avoidance of adverse weather is an inevitable safety-relevant task in aviation. Automated avoidance can help to improve safety and reduce costs in manned and unmanned aviation. For this purpose, a straightforward trajectory planner for a single-s...
The nonholonomic constraints of fixed-wing UAVs, characterized by coupled heading-curvature feasibility and asymmetric costs, fundamentally deviate from classical Euclidean routing assumptions. While standard neural combinatorial optimization (NCO) a...
This paper presents the design and implementation of a SLAM-based online mapping and autonomous trajectory execution system for the Nimbulus-e, a concept vehicle designed for agile maneuvering in confined spaces. The Nimbulus-e uses individual steer-...
Autonomous navigation in real-world industrial environments is a challenging task in many respects. One of the key open challenges is fast planning and execution of trajectories to reach arbitrary target positions and orientations with high accuracy...
Path planning algorithms for mobile robots and autonomous systems have advanced considerably, yet challenges remain in navigating complex environments while satisfying non-holonomic constraints and achieving precise target orientation. Phase portrait...
This paper presents a switched visual servoing strategy for maneuvering the nonholonomic mobile robot to the desired configuration while keeping the tracked image points in the vision of the camera. Firstly, a pure backward motion and a pure rotation...
In this research, we establish a precise correspondence between the theory of logarithmic connections on principal G-bundles over compact Riemann surfaces and the geometric formulation of control systems on curved manifolds, providing a novel differe...
Autonomous exploration in unknown environments is a fundamental problem for the practical application of unmanned ground vehicles (UGVs). However, existing exploration methods face difficulties when directly applied to UGVs due to limited sensory cov...
The motion of nonholonomic mobile manipulators (NMMs) is inherently constrained by joint limits, joint velocity limits, self-collisions and singularities. Most motion planning algorithms consider some of the aforementioned constraints, however, a uni...
In this paper, we address the trajectory-/target-tracking and obstacle-avoidance problem for nonholonomic mobile robots subjected to diamond-shaped velocity constraints and predefined output performance specifications. The proposed scheme leverages t...
The increasing demand for safe and efficient maritime transportation has underscored the necessity of developing effective path-planning algorithms for Unmanned Surface Vehicles (USVs). However, the inherent complexities of the ocean environment and...
This paper investigates a cantilever beam nonlinear dynamic behaviour, on which the nonlinearity is introduced with permanent magnet interactions or with a non-holonomic contact. The experimental time domain responses obtained from non-zero initial c...
This paper presents the design and synthesis of a dynamic output feedback neural network controller for a non-holonomic mobile robot. First, the dynamic model of a non-holonomic mobile robot is presented, in which these constraints are considered for...
This paper introduces a reactive self-collision avoidance algorithm for differentially driven mobile manipulators. The proposed method mainly focuses on self-collision between a manipulator and the mobile robot. We introduce the concept of a distance...
This paper addresses trajectory tracking of an omni-directional mobile robot (OMR) with three mecanum wheels and a fully symmetrical configuration. The omni-directional wheeled robot outperforms the non-holonomic wheeled robot due to its ability to r...
A fixed-time adaptive guaranteed performance tracking control is investigated for a category of nonholonomic mobile robots (NMRs) under asymmetric state constraints. For the sake of favorable transient and steady-state properties of the system, a pre...
The essence of biomimetics in human–computer interaction (HCI) is the inspiration derived from natural systems to drive innovations in modern-day technologies. With this in mind, this paper introduces a biomimetic adaptive pure pursuit (A-PP) a...
Velocity saturation constraints are a significant issue for wheeled mobile robots (WMRs) when designing kinematics-based control laws. To handle the problem of velocity saturation constraints, a novel monocular visual servoing controller is developed...
In this paper, we develop a hybrid iterative learning controller (HILC) for a non-holonomic wheeled mobile platform to achieve trajectory tracking with actual complex constraints, such as physical constraints, uncertain parameters, and initial errors...
In this research, a non-infrastructure-based and low-cost indoor navigation method is proposed through the integration of smartphone built-in microelectromechanical systems (MEMS) sensors and indoor map information using an auxiliary particle filter...
In order to improve the positioning accuracy of the pipeline inspection gauge (PIG), a pipeline positioning method, based on weld location, is proposed. The position of the welding scar is recognized by wavelet transform modulus maxima (WTMM). Equidi...
This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environmen...
Local path planning is a key task for the motion planners of autonomous vehicles since it commands the vehicle across its environment while avoiding any obstacles. To perform this task, the local path planner generates a trajectory and a velocity pro...
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