Guiding vector field algorithm for a moving path following problem

This paper presents a guidance algorithm solving the problem of moving path following, that is, steering a mobile robot to a curvilinear path attached to a moving frame. The nonholonomic robot is described by the unicycle-type model under the influence of some constant exogenous disturbance. The desired path may be an arbitrary smooth curve...

Predictive path following with arrival time awareness for waterborne AGVs

Large ports are seeking innovative logistical ways to improve their competitiveness world-wide. This article proposes waterborne AGVs, inspired by conventional automated guided vehicles and autonomous surface vessels, for transport over water. A predictive path following with arrival time awareness controller is proposed for such waterborne AGVs...

A Koiter-Newton arclength method for buckling-sensitive structures

Thin-walled structures, when properly designed, possess a high strength-to-weight and stiffness-to-weight ratio, and therefore are used as the primary components in some weight critical structural applications, such as aerospace and marine engineering. These structures are prone to be limited in their load carrying capability by buckling, while...

Computational module for the buckling and post-buckling behavior of a cylindrical shell with a two-mode imperfection

Bordered equations in continuation methods: an improved solution technique

Continuation methods with adaptive path parameters, such as arc-length continuation, are based on bordered equations where the governing matrix is nonsymmetric with respect to one column and row. In the conventional way of solving these systems, the factored submatrix of the total system becomes singular at special solution points such as limit...