Title :
A tracking error model for the bi-steerable car
Author :
Tchenderli-Braham, S.A. ; Hamerlain, F.
Author_Institution :
Lab. de Robot. et Productique, Le Centre De Dev. Des Technol. Av. CDTA, Algiers, Algeria
Abstract :
In this paper we propose to develop a new tracking error model for a wheeled mobile robot (WMR) car in a double steering mode (bi-steerable car Bis-Car) by using an appropriate diffeomorfism (variable change) offering an easier error model to handle. This new model is dedicated for the trajectory tracking control tasks.
Keywords :
mobile robots; steering systems; trajectory control; WMR; bisteerable car; diffeomorfism; double steering mode; tracking error model; trajectory tracking control tasks; wheeled mobile robot car; Equations; Kinematics; Mathematical model; Mobile robots; Robot kinematics; Trajectory; Bi-steerable Car; Tracking Error model; Trajectory tracking; Variable change;
Conference_Titel :
Systems and Computer Science (ICSCS), 2013 2nd International Conference on
Conference_Location :
Villeneuve d´Ascq
Print_ISBN :
978-1-4799-2020-4
DOI :
10.1109/IcConSCS.2013.6632058
