Vizi, Máté Benjámin and Orosz, Gábor and Takács, Dénes and Stépán, Gábor (2024) Maneuvering an Autonomous Spatial Unicycle. IFAC PAPERSONLINE, 58 (28). pp. 438-443. ISSN 2405-8971
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Abstract
The path-following task of an autonomous unicycle is considered in the three-dimensional space. The equation of motion is derived using the Appellian aproach of non-honolomic dynamics. The resulting nonlinear model is transformed into the path-reference frame. Using pole placement, a linear feedback controller is designed that takes into account the velocity of the maneuver. The resulting controller is tested on the nonlinear model via numerical simulations; lane change maneuvers are carried out successfully at different speeds. © 2024 The Authors.
| Item Type: | Article |
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| Additional Information: | Funding Agency and Grant Number: National Research, Development and Innovation Office of Hungary [NKFI-146201, NKFI-KKP-133846]; HUN-REN Hungarian Research Network; Janos Bolyai Research Scholarship of the Hungarian Academy of Sciences; Hungarian Academy of Sciences within the Distinguished Guest Fellowship Programme; Fulbright Foundation Funding text: This research was partly supported by the National Research, Development and Innovation Office of Hungary under grants NKFI-146201, NKFI-KKP-133846 and by the HUN-REN Hungarian Research Network. DT is supported by the Janos Bolyai Research Scholarship of the Hungarian Academy of Sciences. GO acknowledges the support of the Hungarian Academy of Sciences within the Distinguished Guest Fellowship Programme and the support of the Fulbright Foundation. |
| Uncontrolled Keywords: | Nonlinear equations; motion planning; Motion control; nonlinear systems; Feedback control; Robot programming; Robotics; Control design; path planning; Reference frame; Maneuverability; Three dimensional space; path following; equation of motion; Lane change; Different speed; Non-linear modelling; Linear feedback controllers; Poles placements; |
| Subjects: | T Technology / alkalmazott, műszaki tudományok > T2 Technology (General) / műszaki tudományok általában T Technology / alkalmazott, műszaki tudományok > TL Motor vehicles. Aeronautics. Astronautics / járműtechnika, repülés, űrhajózás |
| SWORD Depositor: | MTMT SWORD |
| Depositing User: | MTMT SWORD |
| Date Deposited: | 20 Sep 2025 20:05 |
| Last Modified: | 20 Sep 2025 20:05 |
| URI: | https://real.mtak.hu/id/eprint/224660 |
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