Generation of Predefined Smooth Paths in Application of Coordinated Control Method
https://doi.org/10.17285/0869-7035.2016.24.3.143-151
Abstract
Splines in non-parametric form, being the segments of affine embedded submanifold of R2, are offered. These splines can be applied as the path primitives for forming the required trajectories with the geometrical smoothness of G2. These trajectories are one-dimensional manifolds. If control algorithms are constructed with the method of the transverse feedback linearization, the required trajectories will be attractors. The required trajectories can be formed considering a limit on curvature. This allows specifying a reserve of the control signal. The simulation showed that in the steady part of actual trajectory the curvature does not exceed the limit on curvature. In the controlling distance from a point on an object to the virtual point on the required trajectory is not necessary. Application of Bernstein basis raises calculable stability of control algorithm.
About the Author
G. M. Dovgobrod
Central Scientific Research Institute Kurs, Moscow
Russian Federation
Russian Federation
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Review
For citations:
Dovgobrod G.M. Generation of Predefined Smooth Paths in Application of Coordinated Control Method. Giroskopiya i Navigatsiya. 2016;24(3):143-151. (In Russ.) https://doi.org/10.17285/0869-7035.2016.24.3.143-151
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