Publications

Authors:

Vesentini, Federico; DI PERSIO, Luca; Muradore, Riccardo

Title:

A Brownian–Markov stochastic model for cart-like wheeled mobile robots

Year:

2023

Type of item:

Articolo in Rivista

Tipologia ANVUR:

Articolo su rivista

Language:

Inglese

Referee:

No

Name of journal:

EUROPEAN JOURNAL OF CONTROL

ISSN of journal:

0947-3580

N° Volume:

70

Page numbers:

1-11

Keyword:

Wheeled mobile robots; Deterministic dynamic models; Stochastic dynamic models; Stochastic processes; Motion constraints; Hybrid systems

Short description of contents:

Wheeled mobile robots are commonly used in a wide range of applications from automated warehouses to patrolling. A rigorous and accurate model describing their dynamics is then important for control and tracking. It is worth mentioning that the majority of these models in literature deal with determinis-tic settings. Therefore, they are not able to take into account stochastic uncertainty or non-predictable phenomena such as lateral grip loss. In this paper, we present a novel stochastic dynamic model which considers random perturbations, while also considering the effect of unknown dissipative external forces acting on wheeled mobile robots. In particular, our approach is based on a two-state hybrid system of Stochastic Differential Equations modeling the robot dynamics subject to Brownian motion noises, with transitions from one state to the other triggered by to a homogeneous Markov chain. (c) 2023 European Control Association. Published by Elsevier Ltd. All rights reserved.

Product ID:

133348

Handle IRIS:

11562/1091987

Last Modified:

April 19, 2023

Bibliographic citation:

Vesentini, Federico; DI PERSIO, Luca; Muradore, Riccardo, A Brownian–Markov stochastic model for cart-like wheeled mobile robots «EUROPEAN JOURNAL OF CONTROL» , vol. 70 , 2023 , pp. 1-11

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