VFO stabilization of a unicycle robot with bounded curvature of motion

2015 ◽  
Author(s):  
Tomasz Gawron ◽  
Maciej M. Michalek
Keyword(s):  
Bounded Curvature

scholarly journals Remarks on Manifolds with Two-Sided Curvature Bounds

2021 ◽  
Vol 9 (1) ◽  
pp. 53-64
Author(s):  
Vitali Kapovitch ◽  
Alexander Lytchak
Keyword(s):  
Distance Functions ◽  
Cut Locus ◽  
Bounded Curvature ◽  
Curvature Bounds ◽  
Positive Reach

Abstract We discuss folklore statements about distance functions in manifolds with two-sided bounded curvature. The topics include regularity, subsets of positive reach and the cut locus.

scholarly journals Elastic multi-particle systems for bounded-curvature path planning

2008 ◽  
Author(s):  
Ali Ahmadzadeh ◽  
Ali Jadbabaie ◽  
George J. Pappas ◽  
Vijay Kumar
Keyword(s):  
Path Planning ◽  
Particle Systems ◽  
Bounded Curvature

Minimal surfaces in R 3 with one end¶and bounded curvature

1998 ◽  
Vol 96 (1) ◽  
pp. 3-7 ◽  
Author(s):  
Lucio Rodríguez ◽  
Harold Rosenberg
Keyword(s):  
Minimal Surfaces ◽  
Bounded Curvature

Stabilization of the Ship Motion by Restricted Control

2020 ◽  
Vol 28 (4) ◽  
pp. 106-123
Author(s):  
G.M. Dovgobrod ◽  
Keyword(s):  
Feedback Linearization ◽  
Control Algorithm ◽  
Linearization Method ◽  
Ship Motion ◽  
Control Law ◽  
Motion Model ◽  
Lateral Deviation ◽  
Bounded Curvature ◽  
Trajectory Attractor ◽  
Singularity Point

. The article presents an algorithm for controlling the motion of an insufficiently controlled ship along a trajectory with a continuous bounded curvature, based on the feedback linearization method. The algorithm allows restricting the control signal, while the state vector of the ship motion model does not approach the singularity point of the control law. The control algorithm returns the ship to the specified trajectory-attractor at any lateral deviation of the ship from the specified trajectory.

Headings of UCAV Based on Nash Equilibrium

2018 ◽  
Vol 6 (3) ◽  
pp. 269-276
Author(s):  
Li Dai ◽  
Zheng Xie
Keyword(s):  
Nash Equilibrium ◽  
Linear Equations ◽  
Theoretic Model ◽  
Bounded Curvature ◽  
Smooth Path ◽  
Game Theoretic ◽  
Strategy Game ◽  
Simulation Results ◽  
Game Theoretic Model ◽  
Set Up

Abstract Given n vertices in a plane and UCAV going through each vertex once and only once and then coming back, the objective is to find the direction (heading) of motion in each vertex to minimize the smooth path of bounded curvature. This paper studies the headings of UCAV. First, the optimal headings for two vertices were given. On this basis, an n-player two-strategy game theoretic model was established. In addition, in order to obtain the mixed Nash equilibrium efficiently, n linear equations were set up. The simulation results demonstrated that the headings given in this paper are effective.

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