Trajectory planning for a four-wheel robot using decomposition-coordination principle

被引：0
|
作者：
El Ouarrak, Hala [1 ]
Bouaine, Amine [1 ]
Rachik, Mostafa [1 ]
Mestari, Mohammed [2 ]
机构：
[1] Univ Hassan II Mohammedia, Dept Math, Fac Sci Ben MSik, Casablanca, Morocco
[2] ENSET Mohammedia, Dept Comp Sci, Mohammadia, Morocco
来源：
PROCEEDINGS OF 2015 THIRD IEEE WORLD CONFERENCE ON COMPLEX SYSTEMS (WCCS) | 2015年
关键词：
Trajectory planning; Autonomous navigation; Robotic; Control theory; Nonlinear control systems;
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
This paper addresses the problem of trajectory planning for a four-wheel robot while taking into consideration its kinematic and dynamic constraints. The process begins first, by determining a model for the robot, then solving the nonlinear equation using the decomposition-coordination principle which allows the nonlinearity to be treated at a local level. The coordination is gained by using the Lagrange multipliers. A numerical application is presented to highlight the advantages of the approach we use in this paper.
引用
收藏
页数：6
相关论文
共 50 条
  • [1] A Reactive Path Planning Approach for a Four-Wheel Robot by the Decomposition Coordination Method
    El Ouarrak, Hala
    Rachik, Mostafa
    Sanou, Ibrahim
    Akef, Fatiha
    Mestari, Mohammed
    2017 4TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING, COMPUTER SCIENCE AND INFORMATICS (EECSI), 2017, : 490 - 495
  • [2] Effective and Safe Trajectory Planning for an Autonomous UAV Using a Decomposition-Coordination Method
    Imane Nizar
    Adil Jaafar
    Zineb Hidila
    Mohamed Barki
    El Hossein Illoussamen
    Mohammed Mestari
    Journal of Intelligent & Robotic Systems, 2021, 103
  • [3] Effective and Safe Trajectory Planning for an Autonomous UAV Using a Decomposition-Coordination Method
    Nizar, Imane
    Jaafar, Adil
    Hidila, Zineb
    Barki, Mohamed
    Illoussamen, El Hossein
    Mestari, Mohammed
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2021, 103 (03)
  • [4] Trajectory tracking control of a four-wheel differentially driven mobile robot
    Caracciolo, L
    De Luca, A
    Iannitti, S
    ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS, 1999, : 2632 - 2638
  • [5] Trajectory tracking control of a four-wheel differentially driven mobile robot
    Universita degli Studi di Roma 'La, Sapienza', Roma, Italy
    Proc IEEE Int Conf Rob Autom, (2632-2638):
  • [6] Optimal state feedback control for trajectory tracking of four-wheel mobile robot
    Chen, Shao-Bin
    Jiang, Jing-Ping
    Zhejiang Daxue Xuebao(Gongxue Ban)/Journal of Zhejiang University (Engineering Science), 2009, 43 (12): : 2186 - 2190
  • [7] Planning Strategy for the Omni-directional Movement Path of the Four-wheel Differential Robot
    Wang Xue
    Ma Wei
    Chen Yiran
    PROCEEDINGS OF THE 2ND INTERNATIONAL CONFERENCE ON ELECTRONIC & MECHANICAL ENGINEERING AND INFORMATION TECHNOLOGY (EMEIT-2012), 2012, 23
  • [8] Generation Expansion Planning with Decomposition-Coordination: An Improved Iterative Method
    Dang, Can
    Wang, Xifan
    Wang, Xiuli
    Xiao, Yunpeng
    Teng, Weijun
    2015 IEEE PES ASIA-PACIFIC POWER AND ENERGY ENGINEERING CONFERENCE (APPEEC), 2015,
  • [9] Backstepping Based Trajectory Tracking Control for a Four-Wheel Mobile Robot with Differential-Drive Steering
    Hao, Yuyao
    Wang, Jian
    Chepinskiy, Sergey A.
    Krasnov, Aleksandr J.
    Liu, Shirong
    PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017), 2017, : 4918 - 4923
  • [10] A NEW METHOD OF DECOMPOSITION-COORDINATION .1. PRINCIPLE AND PUTTING INTO OPERATION
    DROUIN, M
    ABOUKANDIL, H
    MARITON, M
    DUC, G
    RAIRO-AUTOMATIQUE-PRODUCTIQUE INFORMATIQUE INDUSTRIELLE-AUTOMATIC CONTROL PRODUCTION SYSTEMS, 1985, 19 (03): : 205 - 226
12345