Reducing a class of polygonal path tracking to straight line tracking via nonlinear strip-wise affine transformation

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dc.contributor.author Moustris, G en
dc.contributor.author Tzafestas, SG en
dc.date.accessioned 2014-03-01T01:29:05Z
dc.date.available 2014-03-01T01:29:05Z
dc.date.issued 2008 en
dc.identifier.issn 0378-4754 en
dc.identifier.uri https://dspace.lib.ntua.gr/xmlui/handle/123456789/19117
dc.subject Path tracking en
dc.subject Strip-wise affine transformation en
dc.subject Strictly monotone polygonal chain en
dc.subject Mobile robots en
dc.subject.classification Computer Science, Interdisciplinary Applications en
dc.subject.classification Computer Science, Software Engineering en
dc.subject.classification Mathematics, Applied en
dc.subject.other FEEDBACK EQUIVALENCE en
dc.subject.other CONTROL-SYSTEMS en
dc.subject.other MOBILE ROBOTS en
dc.title Reducing a class of polygonal path tracking to straight line tracking via nonlinear strip-wise affine transformation en
heal.type journalArticle en
heal.identifier.primary 10.1016/j.matcom.2007.10.010 en
heal.identifier.secondary http://dx.doi.org/10.1016/j.matcom.2007.10.010 en
heal.language English en
heal.publicationDate 2008 en
heal.abstract In this paper a piecewise linear homeomorphism is presented that maps I strictly monotone polygonal chain to a straight line. This mapping enables one to reduce the path tracking task tor mobile robots to straight line tracking. Due to the simplicity of the transformation, closed form Solutions for the direct and inverse mapping are presented. Furthermore. the transformation also defines,,I feedback equivalence relation between the original and the transformed system equations of the mobile robot. It is shown that the form of the system equations is preserved and that (he transformation essentially maps a car-like robot in the original domain. to a car-like robot in the transformed domain. This enables one to use straight line trackers developed solely for this system, for the tracking of arbitrary strictly monotone polygonal curves. Finally, it is shown that the use of this mapping can also simplify the path tracking controllers since they on]), need to track straight line paths. In general, one can eliminate from application of existing the existing path controllers all parameters that are needed for non-straight paths, thus obtaining respective simplified controllers. For example. it is shown that a fuzzy path controller with 135 rules can be reduced to in equivalent fuzzy straight line tracking, controller with 45 rules. (C) 2007 IMACS. Published by Elsevier B.V. All rights reserved. en
heal.publisher ELSEVIER SCIENCE BV en
dc.identifier.doi 10.1016/j.matcom.2007.10.010 en
dc.identifier.isi ISI:000260292200002 en
dc.identifier.volume 79 en
dc.identifier.issue 2 en
dc.identifier.spage 133 en
dc.identifier.epage 148 en

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