DocumentCode :
3483717
Title :
Tracking expanding star curves using guidance vector fields
Author :
Frew, Eric W. ; Lawrence, Dale
Author_Institution :
Univ. of Colorado, Boulder, CO, USA
fYear :
2012
fDate :
27-29 June 2012
Firstpage :
1749
Lastpage :
1754
Abstract :
This paper describes a constructive method for creating provably stable vector fields for a class of star shaped, three-dimensional curves. Using the approach, vector fields can be designed that provide essentially global exponential convergence to a desired curve expressed in cylindrical coordinates. Additional terms are added to the vector fields to account for time-varying curves and to enable normalization of the vector field in order to keep the resulting speed bounded. Simulation results demonstrate the method for tracking a variety of different closed curves and for following a family of patterns when time-varying elements are included.
Keywords :
curve fitting; target tracking; time-varying systems; constructive method; cylindrical coordinates; expanding star curve tracking; global exponential convergence; guidance vector fields; provably stable vector fields; star shaped; three-dimensional curves; time-varying curves; time-varying elements; vector field normalization; Approximation methods; Convergence; Lyapunov methods; Robot kinematics; Vectors; Vehicles;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference (ACC), 2012
Conference_Location :
Montreal, QC
ISSN :
0743-1619
Print_ISBN :
978-1-4577-1095-7
Electronic_ISBN :
0743-1619
Type :
conf
DOI :
10.1109/ACC.2012.6315473
Filename :
6315473
Link To Document :
بازگشت