Trajectory tracking for unicycle-type and two-steering-wheels mobile robots - Inria - Institut national de recherche en sciences et technologies du numérique Access content directly
Reports (Research Report) Year : 1993

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

Abstract

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.

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Other [cs.OH]
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Dates and versions

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

Identifiers

  • HAL Id : inria-00074575 , version 1

Cite

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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