SVEUČILIŠTE U SPLITU, FAKULTET ELEKTROTEHNIKE, STROJARSTVA I BRODOGRADNJE

Svi zainteresirani pozivaju se na predavanje:

Mobile Robots Characterized by Kinematic and Dynamic Equations: Motion Planning, Trajectory Tracking and Group Control

koje će se održati u četvrtak, 1. listopada 2009. godine. Gost predavač je prof. Amit Ailon sa Ben Gurion University, Beer Sheva, Izrael. Predavanje će biti organizirano u učionici C501 s početkom u 11:00 sati.

Abstract: In this talk various control problems of mobile robots (single- and multi-body vehicle structures) as both kinematics and dynamics are intertwined in the mathematical model, will be considered. The problem of driving a mobile robot to a goal configuration during a prescribed time interval will be presented and simple solution, which is based on the concept of polynomial controllability, will be shown. The trajectory tracking control problem in mobile robots will be considered as well. By adopting the concept of virtual vehicle and implementing a nonlinear stabilizing controller a control scheme that ensures exponential convergence to a desired time-parameterized path, will be presented. Finally, control problems associated with group control, in particular motion in convoy-like and rigid formations are to be considered.

Here we extend the concept of virtual vehicle to virtual formation and present a control strategy that ensures convergence to a desired formation that moves along an assigned time-parameterized path. Some results will be demonstrated by numerical examples. Thus far the obtained results are based on the hypothesis that all relevant data is available for the controller. However, this is not the real situation. Hence, issues like sensing architecture and communication are highly relevant to this framework. In this regard application of camera visual-based controllers for groups of autonomous vehicles is certainly an appealing research area.