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Control algorithmization for state- and input-constrained driftless nonholonomic systems in the context of complex motion tasks of mobile robots.

2016/21/B/ST7/02259

Keywords:

control motion planning state- and input-constraints drifless nonholonomic systems mobile robots

Descriptors:

  • ST7_10: Hardware implementation of algorithms
  • ST7_1: Control engineering in automation and robotics
  • ST7_4: Micro- and nanosystems engineering

Panel:

ST7 - Systems and communication engineering: electronics, communication, optoelectronics

Host institution :

Politechnika Poznańska, Wydział Informatyki

woj. wielkopolskie

Other projects carried out by the institution 

Principal investigator (from the host institution):

dr hab. Maciej Michałek 

Number of co-investigators in the project: 4

Call: OPUS 11 - announced on 2016-03-15

Amount awarded: 252 850 PLN

Project start date (Y-m-d): 2017-02-06

Project end date (Y-m-d): 2019-08-05

Project duration:: 30 months (the same as in the proposal)

Project status: Project settled

Project description

Download the project description in a pdf file

Note - project descriptions were prepared by the authors of the applications themselves and placed in the system in an unchanged form.

Information in the final report

  • Publication in academic press/journals (4)
  • Articles in post-conference publications (7)
  • Book publications / chapters in book publications (2)
  1. Forward tracking of complex trajectories with non-Standard N-Trailers of non-minimum-phase kinematics avoiding a jackknife effect
    Authors:
    Maciej Marcin Michałek, Dariusz Pazderski
    Academic press:
    International Journal of Control (rok: 2019, tom: 92(11), strony: 2547-2560), Wydawca: Taylor & Francis
    Status:
    Published
    DOI:
    10.1080/00207179.2018.1448117 - link to the publication
  2. A G3-continuous extend procedure for path planning of mobile robots with limited motion curvature and state constraints
    Authors:
    Tomasz Gawron, Maciej Marcin Michałek
    Academic press:
    Applied Sciences (rok: 2018, tom: 8(11), strony: 2127), Wydawca: MDPI AG, Basel, Switzerland
    Status:
    Published
    DOI:
    10.3390/app8112127 - link to the publication
  3. Robustification of the modular tracking control system for non-Standard N-Trailers of uncertain kinematics
    Authors:
    Maciej Marcin Michałek, Marcin Kiełczewski
    Academic press:
    Control Engineering Practice (rok: 2017, tom: 64, strony: 160-172), Wydawca: Elsevier
    Status:
    Published
    DOI:
    10.1016/j.conengprac.2017.04.005 - link to the publication
  4. The VFO-driven motion planning and feedback control in polygonal worlds for a unicycle with bounded curvature of motion
    Authors:
    Tomasz Gawron, Maciej Marcin Michałek
    Academic press:
    Journal of Intelligent & Robotic Systems (rok: 2018, tom: 89(1-2), strony: 265-297), Wydawca: Springer
    Status:
    Published
    DOI:
    10.1007/s10846-017-0555-0 - link to the publication
  1. Algorithmization of constrained motion for car-like robots using the VFO control strategy with parallelized planning of admissible funnels
    Authors:
    Tomasz Gawron, Maciej Marcin Michałek
    Conference:
    2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (rok: 2018, ), Wydawca: IEEE
    Data:
    konferencja October 1-5
    Status:
    Published
  2. VFO feedback control using positively-invariant funnels for mobile robots travelling in polygonal worlds with bounded curvature of motion
    Authors:
    Tomasz Gawron, Maciej Marcin Michałek
    Conference:
    2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) (rok: 2017, ), Wydawca: IEEE
    Data:
    konferencja 42919
    Status:
    Published
  3. Off-track reduction control for roundabout negotiation with multi-steering N-trailers
    Authors:
    Maciej Marcin Michałek
    Conference:
    21st IFAC World Congress (rok: 2020, ), Wydawca: IFAC
    Data:
    konferencja 44024
    Status:
    Accepted for publication
  4. VFO path following control strategy for constrained motion of car-like robots with invariant funnels computed using the SOS optimization
    Authors:
    Tomasz Gawron, Maciej Marcin Michałek
    Conference:
    2018 IEEE Conference on Control Technology and Applications (CCTA) (rok: 2018, ), Wydawca: IEEE
    Data:
    konferencja August 21-24
    Status:
    Published
  5. Algorithmization of constrained monotonic maneuvers for an advanced driver assistant system in the intelligent urban buses
    Authors:
    Tomasz Gawron, Mateusz Mydlarz, Maciej Marcin Michałek
    Conference:
    2019 IEEE Intelligent Vehicles Symposium (IV) (rok: 2019, ), Wydawca: IEEE
    Data:
    konferencja June 9-12
    Status:
    Published
  6. Computing the admissible reference state-trajectories for differentially non-flat kinematics of non-Standard N-Trailers
    Authors:
    Maciej Marcin Michałek, Dariusz Pazderski
    Conference:
    2018 European Control Conference (ECC) (rok: 2018, ), Wydawca: EUCA, IEEE
    Data:
    konferencja 12-15 June
    Status:
    Published
  7. Safe cooperative merging strategy for platoon forming by a constrained multi-vehicle system
    Authors:
    Maciej Marcin Michałek, Lounis Adouane
    Conference:
    2018 IEEE Conference on Control Technology and Applications (CCTA) (rok: 2018, ), Wydawca: IEEE
    Data:
    konferencja August 21-24
    Status:
    Published
  1. Skalowalny algorytm planowania ścieżek dla przegubowych robotów typu SNT z ograniczeniami konfiguracyjnymi
    Authors:
    Tomasz Gawron, Maciej Marcin Michałek
    Book:
    Postępy robotyki (rok: 2018, tom: 196, strony: 273-282), Wydawca: Oficyna Wydawnicza Politechniki Warszawskiej
    Status:
    Published
  2. Planning G3-continuous paths for state-constrained mobile robots with bounded curvature of motion
    Authors:
    Tomasz Gawron, Maciej Marcin Michałek
    Book:
    Trends in Advanced Intelligent Control, Optimization and Automation. KKA 2017. Advances in Intelligent Systems and Computing (rok: 2017, tom: 577, strony: 473-482), Wydawca: Springer International Publishing AG 2017
    Status:
    Published

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