DocumentCode
2803108
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
fYear
1991
fDate
3-5 Nov 1991
Firstpage
193
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.1991.174448
Filename
174448
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