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

Xanthi Papageorgiou; Savvas G. Loizou; Kostas J. Kyriakopoulos

doi:10.1109/ROBOT.2005.1570154

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

Xanthi Papageorgiou, Savvas G. Loizou, Kostas J. Kyriakopoulos

Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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.

Original language	English (US)
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	417-422
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570154
State	Published - 2005
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: Apr 18 2005 → Apr 22 2005

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Conference

Conference	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	4/18/05 → 4/22/05

Keywords

Belt-zones
Navigation
Tracking

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Access to Document

10.1109/ROBOT.2005.1570154

Cite this

Papageorgiou, X., Loizou, S. G., & Kyriakopoulos, K. J. (2005). Motion planning and trajectory tracking on 2-D manifolds embedded in 3-D workspaces. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 417-422). Article 1570154 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570154

Motion planning and trajectory tracking on 2-D manifolds embedded in 3-D workspaces. / Papageorgiou, Xanthi; Loizou, Savvas G.; Kyriakopoulos, Kostas J.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 417-422 1570154 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Papageorgiou, X, Loizou, SG & Kyriakopoulos, KJ 2005, Motion planning and trajectory tracking on 2-D manifolds embedded in 3-D workspaces. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570154, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 417-422, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 4/18/05. https://doi.org/10.1109/ROBOT.2005.1570154

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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.",

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AB - 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.

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KW - Tracking

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BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation

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

Abstract

Publication series

Conference

Keywords

ASJC Scopus subject areas

Access to Document

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