書誌事項
- タイトル別名
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- Trajectory Tracking Control of Mechanical Systems with Obstacle Avoidance
- ショウガイブツ カイヒ オ フクム キカイ システム ノ キドウ ツイジュウ セイギョ
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This paper addresses a trajectory tracking problem of mechanical systems with obstacle avoidance. Our strategy to improve obstacle avoidance is based on the field potential method using an existing navigation function. However, direct application of this function to trajectory tracking can hinder obstacle avoidance. We newly introduce a parameterized function representing a reference trajectory and propose a feedback law to control the parameter, thereby ensuring effective obstacle avoidance. Successful trajectory tracking is achieved by the convergence of the coordinates of the systems to the parameterized function. Because our method adopts a bounded navigation function, the proposed controller produces a bounded input signal even when the coordinates approach obstacles. Finally, a simulation of a two-link manipulator illustrates the effectiveness of the proposed method.
収録刊行物
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- システム制御情報学会論文誌
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システム制御情報学会論文誌 19 (12), 477-487, 2006
一般社団法人 システム制御情報学会
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詳細情報 詳細情報について
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- CRID
- 1390282680141812864
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- NII論文ID
- 10018420251
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- NII書誌ID
- AN1013280X
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- ISSN
- 2185811X
- 13425668
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- NDL書誌ID
- 8573063
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可