Contents 1 INTRODUCTION
Motion control problems of mobile robots have always been the key problems of robotics. Generally, it can be divided into three categories[1]:
Abstract:
Path following, one of the motion control problems of mobile robots is a problem not adequately studied. In this paper, a new framework to solve path following is establi...Show MoreMetadata
Abstract:
Path following, one of the motion control problems of mobile robots is a problem not adequately studied. In this paper, a new framework to solve path following is established. Firstly, path following is given a new formulation, considering geometry constraints of planar curves. Secondly, the notion of virtual vehicle is applied, making exact linearization realizable. A control law with simple form is deduced, which is proved to be applicable by simulation results.
Published in: 2006 Chinese Control Conference
Date of Conference: 07-11 August 2006
Date Added to IEEE Xplore: 15 January 2007
ISBN Information:
