Title :
Control of a car-like robot using a dynamic model
Author :
Egerstedt, M. ; Hu, X. ; Stotsky, A.
Author_Institution :
Div. of Optimization & Syst. Theory, R. Inst. of Technol., Stockholm, Sweden
Abstract :
A solution to the problem of controlling a car-like nonholonomic robot is proposed using a “virtual” vehicle approach, which is shown to be robust with respect to errors and disturbances. The proposed algorithms are model independent, and the stability analysis is done using a dynamical model in which, for instance, the side slip angles are taken into account
Keywords :
mobile robots; path planning; position control; robot dynamics; robot kinematics; stability; tracking; car-like robot; dynamic model; kinematics; mobile robot; nonholonomic robot; path following control; position control; side slip angles; stability; Automatic control; Differential equations; Feedback; Kinematics; Plastics; Robotics and automation; Robots; Robustness; Vehicle dynamics; Vehicles;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680943
