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Rapport (Rapport De Recherche) Année : 1993

Trajectory tracking for unicycle-type and two-steering-wheels mobile robots

Résumé

Through two different approaches, this report proposes two general controllers for unicycle-type and two-steering-wheels mobile robots. For both systems, conditions for asymptotical convergence to a predefined path are established and simulation results are presented. Rather than writing the systems' equations with respect to a fixed reference frame, the robot state is here parametrized relative to the followed path, in terms of distance and orientation.

Domaines

Autre [cs.OH]
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Dates et versions

inria-00074575 , version 1 (24-05-2006)

Identifiants

  • HAL Id : inria-00074575 , version 1

Citer

Alain Micaelli, Claude Samson. Trajectory tracking for unicycle-type and two-steering-wheels mobile robots. [Research Report] RR-2097, INRIA. 1993. ⟨inria-00074575⟩
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