Title :
Path tracking control of trailer-like mobile robot
Author :
Sampei, M. ; Tamura, T. ; Itoh, T. ; Nakamichi, M.
Author_Institution :
Dept. of Electr. & Electron. Eng., Chiba Univ., Japan
Abstract :
The authors design a path tracking controller for a trailer-like mobile robot which has the following properties: (1) the stability of the control can be evaluated analytically; (2) the trailer-like mobile robot tracks the desired path even when it moves backward; and (3) the control varies according to the environment and/or the velocity of the robot without violating the stability of the control
Keywords :
mobile robots; navigation; position control; stability; path tracking controller; position control; stability; trailer-like mobile robots; Control systems; Design engineering; Equations; Linear systems; Mobile robots; Robot kinematics; Servomechanisms; Stability analysis; Velocity control; Wheels;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174448
