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V. Halonen

dblp:246/7663 · DBLP profile ↗
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1ranked-venue papers
0as first author
0since 2021 · last 2019
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1Systems, architecture and hardware · 1

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Motion planning and robot control · 100%

Topics — the 3 heaviest of 3, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Motion planning and robot control › mobile robot control
path following control		 0.412019
Path Following Controller for Differentially Driven Planar Robots with Limited Torques and Uncertain and Changing Dynamics · ICRA 2019
Robotics › Motion planning and robot control
robot control		 0.112019
Path Following Controller for Differentially Driven Planar Robots with Limited Torques and Uncertain and Changing Dynamics · ICRA 2019
Robotics › Motion planning and robot control › robot control › torque control
torque-limited control		 0.112019
Path Following Controller for Differentially Driven Planar Robots with Limited Torques and Uncertain and Changing Dynamics · ICRA 2019

Methods — techniques the papers use, named apart from their topics

unscented kalman filter · 0.4adaptive control · 0.4
YearPublicationVenuePosition
2019 Path Following Controller for Differentially Driven Planar Robots with Limited Torques and Uncertain and Changing Dynamics
abstract
This paper presents a path following controller that is suitable for asymmetrical planar robots with significant mass and limited motor torques. the controller is resistant against environmental forces, and inaccurate estimates of robot's inertia, by estimating their effects with unscented kalman filter. the controller outputs wheel torque commands which take in account the motor torque limits and given relative priority of internal control elements. the method presented is thoroughly explained and the simulation results demonstrate the performance of the controller.
Ville Pitkänen, V. Halonen, Anssi Kemppainen, Juha Röning
 ICRA2