DocumentCode
1960010
Title
Trajectory tracking for non-holonomic vehicles: overview and case study
Author
Morin, P. ; Samson, C.
Author_Institution
INRIA, France
fYear
2004
fDate
17-20 June 2004
Firstpage
139
Lastpage
153
Abstract
The paper provides an overview of trajectory tracking problems for non-holonomic vehicles. Several control objectives are reviewed and discussed with the viewpoints of control design and robotics applications. In order to illustrate and compare different approaches, explicit control laws and simulation results are provided for a car-like vehicle.
Keywords
control system synthesis; feedback; mobile robots; motion control; position control; road vehicles; tracking; car-like vehicle; control design; explicit control laws; nonholonomic vehicles; robotics applications; trajectory tracking; Computer aided software engineering; Control design; Control systems; Kinematics; Linear feedback control systems; Motion control; Output feedback; State feedback; Trajectory; Vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control, 2004. RoMoCo'04. Proceedings of the Fourth International Workshop on
Print_ISBN
83-7143-272-0
Type
conf
DOI
10.1109/ROMOCO.2004.240574
Filename
1359499
Link To Document