DocumentCode
358704
Title
An optimal velocity generation of a rear wheel drive tricycle along a specified path
Author
Bestaoui, Yasmina
Author_Institution
CEMIF, Evry Univ., France
Volume
4
fYear
2000
fDate
2000
Firstpage
2907
Abstract
The subject of this paper is motion generation of three-wheeled vehicles, taking into account dynamics and motors´ current and slew rate constraints. Dynamics are described by a nonlinear nonholonomic model. Optimal velocity is determined along a specified path. The curvature of the path is known. As an application of the proposed algorithm, velocity of the tricycle can be approximated by simple functions of the curvature
Keywords
mobile robots; nonlinear control systems; optimal control; robot dynamics; dynamics; mobile robot; motion generation; motor current constraints; motor slew rate constraints; nonlinear nonholonomic model; optimal velocity generation; path following; rear wheel drive tricycle; three-wheeled vehicles; Actuators; Axles; DC motors; Mobile robots; Motor drives; Permanent magnet motors; Robot control; Vehicle dynamics; Vehicles; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 2000. Proceedings of the 2000
Conference_Location
Chicago, IL
ISSN
0743-1619
Print_ISBN
0-7803-5519-9
Type
conf
DOI
10.1109/ACC.2000.878742
Filename
878742
Link To Document