Approximate Steering of a Unicycle Under Bounded Model Perturbation Using Ensemble Control

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dc.contributor.authorBecker, Aaron T.
dc.contributor.authorBretl, Timothy W.
dc.date.accessioned2019-10-01T15:39:37Z
dc.date.available2019-10-01T15:39:37Z
dc.date.issued2/24/2012
dc.description.abstractThis paper considers the problem of steering a nonholonomic unicycle despite model perturbation that scales both the forward speed and the turning rate by an unknown but bounded constant. We model the unicycle as an ensemble control system, show that this system is ensemble controllable, and derive an approximate steering algorithm that brings the unicycle to within an arbitrarily small neighborhood of any given Cartesian position. We apply our work to a differential-drive robot with unknown but bounded wheel radius and validate our approach with hardware experiments.
dc.identifier10.1109/TRO.2011.2182117
dc.identifier.citationCopyright 2012 IEEE Transactions on Robotics. This is a post-print version of a published paper that is available at: https://ieeexplore.ieee.org/abstract/document/6157635 Recommended citation: Becker, Aaron, and Timothy Bretl. "Approximate steering of a unicycle under bounded model perturbation using ensemble control." IEEE Transactions on Robotics 28, no. 3 (2012): 580-591. DOI: 10.1109/TRO.2011.2182117 This item has been deposited in accordance with publisher copyright and licensing terms and with the author’s permission.
dc.identifier.urihttps://hdl.handle.net/10657/4903
dc.language.isoen_US
dc.publisherIEEE Transactions on Robotics
dc.subjectRobot sensing systems
dc.subjectMobile robots
dc.subjectApproximation methods
dc.subjectControl systems
dc.subjectVectors
dc.subjectApproximation algorithms
dc.subjectEnsemble control theory
dc.subjectModel perturbation
dc.subjectNonholonomic motion planning
dc.titleApproximate Steering of a Unicycle Under Bounded Model Perturbation Using Ensemble Control
dc.typeArticle

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