A geometric approach to target convergence and obstacle avoidance of a nonstandard tractor-trailer robot

DOI10.1002/RNC.5021MaRDI QIDQ4990846zbMATH OpenOpenAlexFDO

Authors Avinesh Prasad, Bibhya Sharma, Jito Vanualailai, Sandeep Ameet Kumar

Publication date 31 May 2021

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1002/rnc.5021

zbMATH Keywords

convergenceeventually uniform stablegeometric approachobstacle avoidance schemetractor-trailer system

Mathematics Subject Classification ID

Geometric methods (93B27) Automated systems (robots, etc.) in control theory (93C85)

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(4)

• Full event-triggering adaptive control considering time-varying constraints for nonholonomic tractor-trailer system
• Autonomous control of multiple quadrotors for collision-free navigation
• Design and analysis of a potential-based controller for safe robot navigation in unknown GPS-denied environments with strictly convex obstacles
• Obstacle avoidance control for multisteering mode of multiaxle wheeled robot based on trajectory prediction strategy

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