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

Moustris, G; Tzafestas, SG

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
heal.journalName	MATHEMATICS AND COMPUTERS IN SIMULATION	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