Browsing Engineering (Faculty of) by Subject "path following"
Now showing items 1-5 of 5
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Adaptive Path Following for an Underactuated Nonholonomic Mobile Manipulator
(University of Waterloo, 2020-01-17)We investigate an adaptive path following problem for an underactuated nonholonomic mobile manipulator system and closed planar curves. As opposed to adapting to uncertain or unknown dynamics in the plant, we apply an ... -
Application of Nonlinear Model Predictive Control to Holonomic Mobile Robots without Terminal Constraints or Costs
(University of Waterloo, 2020-09-01)The use of mobile robots greatly enhances the capability and versatility of industrial robots compared to their fixed counterpart. However, successfully deploying autonomous mobile robots is challenging and requires accurate ... -
Design a Reliable Model Predictive Control for Path Following with Application to the Autonomous Vehicle and Considering Different Vehicle Models
(University of Waterloo, 2021-03-12)Despite many advances that aim to bring autonomous cars to market, several challenges remain to overcome before such technology is widely adopted. Among these is the need for a reliable cornering control that can work ... -
Synchronized closed path following for a differential drive and manipulator robot
(IEEE, 2016-05-23)We locally solve a synchronized path-following problem for a heterogeneous multiagent system consisting of a differential drive robot and a serial manipulator. Each is assigned a simple, regular, and closed curve in its ... -
Synchronized closed-path following for a mobile robot and an Euler-Lagrange system
(University of Waterloo, 2013-09-20)We propose and solve a synchronized path following problem for a differential drive robot modeled as a dynamic unicycle and an Euler-Lagrange system. Each system is assigned a simple closed curve in its output space. The ...