Title :
Motion planning and control for Hilare pulling a trailer: experimental issues
Author :
Sekhavat, S. ; Lamiraux, F. ; Laumond, J.P. ; Bauzil, G. ; Ferrand, A.
Author_Institution :
Lab. d´´Autom. et d´´Anal. des Syst., CNRS, Toulouse, France
Abstract :
This paper describes a real experiment in nonholonomic motion planning and control. It was performed on the mobile robot Hilare-2-bis pulling a trailer
Keywords :
feedback; mobile robots; motion control; path planning; position control; robot kinematics; velocity control; Hilare-2-bis mobile robot; nonholonomic motion planning; trailer; Feedback control; Mobile robots; Motion control; Motion planning; Path planning; Robot kinematics; Tracking; Trajectory; Wheels; Workstations;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.606793
