Guiding vector field algorithm for a moving path following problem

Yuri A. Kapitanyuk; Hector Garcia de Marina; Anton V. Proskurnikov; Ming Cao

doi:10.1016/j.ifacol.2017.08.1340

Guiding vector field algorithm for a moving path following problem

Yuri A. Kapitanyuk, Hector Garcia de Marina, Anton V. Proskurnikov, Ming Cao

Team Tamas Keviczky

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

20 Citations (Scopus)

60 Downloads (Pure)

Abstract

This paper presents a guidance algorithm solving the problem of moving path following, that is, steering a mobile robot to a curvilinear path attached to a moving frame. The nonholonomic robot is described by the unicycle-type model under the influence of some constant exogenous disturbance. The desired path may be an arbitrary smooth curve in its implicit form, that is, a level set of some known smooth function. The path following algorithm employs a guiding vector field, whose integral curves converge to the trajectory. Experiments with a real fixed wing unmanned aerial vehicle (UAV) as well as numerical simulations are presented, illustrating the performance of the proposed path following control algorithm.

Original language	English
Title of host publication	IFAC-PapersOnLine
Subtitle of host publication	Proceedings 20th IFAC World Congress
Editors	Denis Dochain, Didier Henrion, Dimitri Peaucelle
Place of Publication	Laxenburg, Austria
Publisher	Elsevier
Pages	6983-6988
Volume	50-1
DOIs	https://doi.org/10.1016/j.ifacol.2017.08.1340
Publication status	Published - 2017
Event	20th World Congress of the International Federation of Automatic Control (IFAC), 2017 - Toulouse, France Duration: 9 Jul 2017 → 14 Jul 2017 Conference number: 20 https://www.ifac2017.org

Publication series

Name	IFAC-PapersOnLine
Number	1
Volume	50

Conference

Conference	20th World Congress of the International Federation of Automatic Control (IFAC), 2017
Abbreviated title	IFAC 2017
Country/Territory	France
City	Toulouse
Period	9/07/17 → 14/07/17
Internet address	https://www.ifac2017.org

Keywords

guiding vector field
mobile robot
motion control
nonlinear systems
Path following

Access to Document

10.1016/j.ifacol.2017.08.1340

1-s2.0-S2405896317318748-mainFinal published version, 749 KB

Cite this

Kapitanyuk, Y. A., Garcia de Marina, H., Proskurnikov, A. V., & Cao, M. (2017). Guiding vector field algorithm for a moving path following problem. In D. Dochain, D. Henrion, & D. Peaucelle (Eds.), IFAC-PapersOnLine: Proceedings 20th IFAC World Congress (Vol. 50-1, pp. 6983-6988). (IFAC-PapersOnLine; Vol. 50, No. 1). Elsevier. https://doi.org/10.1016/j.ifacol.2017.08.1340

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title = "Guiding vector field algorithm for a moving path following problem",

abstract = "This paper presents a guidance algorithm solving the problem of moving path following, that is, steering a mobile robot to a curvilinear path attached to a moving frame. The nonholonomic robot is described by the unicycle-type model under the influence of some constant exogenous disturbance. The desired path may be an arbitrary smooth curve in its implicit form, that is, a level set of some known smooth function. The path following algorithm employs a guiding vector field, whose integral curves converge to the trajectory. Experiments with a real fixed wing unmanned aerial vehicle (UAV) as well as numerical simulations are presented, illustrating the performance of the proposed path following control algorithm.",

keywords = "guiding vector field, mobile robot, motion control, nonlinear systems, Path following",

author = "Kapitanyuk, {Yuri A.} and {Garcia de Marina}, Hector and Proskurnikov, {Anton V.} and Ming Cao",

year = "2017",

doi = "10.1016/j.ifacol.2017.08.1340",

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booktitle = "IFAC-PapersOnLine",

note = "20th World Congress of the International Federation of Automatic Control (IFAC), 2017, IFAC 2017 ; Conference date: 09-07-2017 Through 14-07-2017",

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Kapitanyuk, YA, Garcia de Marina, H, Proskurnikov, AV & Cao, M 2017, Guiding vector field algorithm for a moving path following problem. in D Dochain, D Henrion & D Peaucelle (eds), IFAC-PapersOnLine: Proceedings 20th IFAC World Congress. vol. 50-1, IFAC-PapersOnLine, no. 1, vol. 50, Elsevier, Laxenburg, Austria, pp. 6983-6988, 20th World Congress of the International Federation of Automatic Control (IFAC), 2017, Toulouse, France, 9/07/17. https://doi.org/10.1016/j.ifacol.2017.08.1340

Guiding vector field algorithm for a moving path following problem. / Kapitanyuk, Yuri A.; Garcia de Marina, Hector; Proskurnikov, Anton V. et al.
IFAC-PapersOnLine: Proceedings 20th IFAC World Congress. ed. / Denis Dochain; Didier Henrion; Dimitri Peaucelle. Vol. 50-1 Laxenburg, Austria: Elsevier, 2017. p. 6983-6988 (IFAC-PapersOnLine; Vol. 50, No. 1).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AU - Kapitanyuk, Yuri A.

AU - Garcia de Marina, Hector

AU - Proskurnikov, Anton V.

AU - Cao, Ming

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PY - 2017

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N2 - This paper presents a guidance algorithm solving the problem of moving path following, that is, steering a mobile robot to a curvilinear path attached to a moving frame. The nonholonomic robot is described by the unicycle-type model under the influence of some constant exogenous disturbance. The desired path may be an arbitrary smooth curve in its implicit form, that is, a level set of some known smooth function. The path following algorithm employs a guiding vector field, whose integral curves converge to the trajectory. Experiments with a real fixed wing unmanned aerial vehicle (UAV) as well as numerical simulations are presented, illustrating the performance of the proposed path following control algorithm.

AB - This paper presents a guidance algorithm solving the problem of moving path following, that is, steering a mobile robot to a curvilinear path attached to a moving frame. The nonholonomic robot is described by the unicycle-type model under the influence of some constant exogenous disturbance. The desired path may be an arbitrary smooth curve in its implicit form, that is, a level set of some known smooth function. The path following algorithm employs a guiding vector field, whose integral curves converge to the trajectory. Experiments with a real fixed wing unmanned aerial vehicle (UAV) as well as numerical simulations are presented, illustrating the performance of the proposed path following control algorithm.

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KW - motion control

KW - nonlinear systems

KW - Path following

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T2 - 20th World Congress of the International Federation of Automatic Control (IFAC), 2017

Y2 - 9 July 2017 through 14 July 2017

ER -

Guiding vector field algorithm for a moving path following problem

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