DocumentCode
2721828
Title
Control of nonholonomic robot with quality factors
Author
Szulczyhski, P. ; Kozlowski, Krzysztof
Author_Institution
Inst. of Control & Syst. Eng., Poznan Univ. of Technol., Poland
fYear
2005
fDate
23-25 June 2005
Firstpage
361
Lastpage
366
Abstract
This paper describes the steering of a unicycle-like vehicle using the algorithm proposed by Morin and Samson (2000) in trajectory tracking process. The influence of controller parameters on quality steering was tested by choosing quality factors. Simulation results illustrating quality factors are presented.
Keywords
backpropagation; mobile robots; position control; road vehicles; robot dynamics; robot kinematics; steering systems; nonholonomic robot control; quality factors; quality steering; trajectory tracking process; unicycle-like vehicle steering; Automotive engineering; Backstepping; Control systems; Equations; Kinematics; Mobile robots; Robot control; Trajectory; Vehicles; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control, 2005. RoMoCo '05. Proceedings of the Fifth International Workshop on
Print_ISBN
83-7143-266-6
Type
conf
DOI
10.1109/ROMOCO.2005.201450
Filename
1554429
Link To Document