Two dimensional transformations and its application to vehicle motion control and analysis

Author

Kanayama, Yutaka ; MacPherson, David ; Krahn, Gary

Author_Institution

Dept. of Comput. Sci., US Naval Postgraduate Sch., Monterey, CA, USA

fYear

1993

fDate

2-6 May 1993

Firstpage

13

Abstract

The authors propose a new 2-D transformation group in order to represent positioning of rigid body vehicles working in a plane. This group is a variation of the 3-D homogeneous transformation group. The relationship between this transformation group and the group of all invertible 4×4 matrices is discussed. One of the advantages of this formulation is that the orientation of the vehicle is explicitly given, rather than by its trigonometric function values. This group theory is applied to describe the motion of vehicles and odometry error analysis for vehicles

Keywords

group theory; matrix algebra; mobile robots; position control; 2-D transformation group; group theory; invertible 4×4 matrices; motion analysis; odometry error analysis; positioning; rigid body vehicles; vehicle motion control; Application software; Computer science; Data structures; Error analysis; Mobile robots; Motion analysis; Motion control; Postal services; Remotely operated vehicles; Software systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.291928

Filename

291928