Motion planning and trajectory tracking on 2-D manifolds embedded in 3-D workspaces

Papageorgiou, X; Loizou, SG; Kyriakopoulos, KJ

dc.contributor.author	Papageorgiou, X	en
dc.contributor.author	Loizou, SG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T02:43:25Z
dc.date.available	2014-03-01T02:43:25Z
dc.date.issued	2005	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31401
dc.subject	Belt-zones	en
dc.subject	Navigation	en
dc.subject	Tracking	en
dc.subject.other	Algorithms	en
dc.subject.other	Collision avoidance	en
dc.subject.other	Computer simulation	en
dc.subject.other	Embedded systems	en
dc.subject.other	Feedback control	en
dc.subject.other	Navigation	en
dc.subject.other	Three dimensional computer graphics	en
dc.subject.other	Tracking (position)	en
dc.subject.other	Two dimensional	en
dc.subject.other	Belt-zones	en
dc.subject.other	Trajectory tracking	en
dc.subject.other	Motion planning	en
dc.title	Motion planning and trajectory tracking on 2-D manifolds embedded in 3-D workspaces	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2005.1570154	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2005.1570154	en
heal.identifier.secondary	1570154	en
heal.publicationDate	2005	en
heal.abstract	In this paper we present a methodology that drives and stabilizes a robotic agent moving in a three dimensional environment, to a 2-dimensional manifold embedded in the workspace. Once the agent reaches the manifold, depending on the application, it performs a motion planning or a trajectory tracking task. Appropriately constructed belt-zone vector fields guarantee that the agent will not depart the 2-D manifold proximity area, while carrying out the motion planning or trajectory tracking task. The derived closed form feedback control law guarantees global convergence and collision avoidance. The properties of the proposed algorithm are verified through non-trivial computer simulations. © 2005 IEEE.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2005.1570154	en
dc.identifier.volume	2005	en
dc.identifier.spage	417	en
dc.identifier.epage	422	en