Title :
Control of nonholonomic robot with quality factors
Author :
Szulczyhski, P. ; Kozlowski, Krzysztof
Author_Institution :
Inst. of Control & Syst. Eng., Poznan Univ. of Technol., Poland
Abstract :
This paper describes the steering of a unicycle-like vehicle using the algorithm proposed by Morin and Samson (2000) in trajectory tracking process. The influence of controller parameters on quality steering was tested by choosing quality factors. Simulation results illustrating quality factors are presented.
Keywords :
backpropagation; mobile robots; position control; road vehicles; robot dynamics; robot kinematics; steering systems; nonholonomic robot control; quality factors; quality steering; trajectory tracking process; unicycle-like vehicle steering; Automotive engineering; Backstepping; Control systems; Equations; Kinematics; Mobile robots; Robot control; Trajectory; Vehicles; Wheels;
Conference_Titel :
Robot Motion and Control, 2005. RoMoCo '05. Proceedings of the Fifth International Workshop on
Print_ISBN :
83-7143-266-6
DOI :
10.1109/ROMOCO.2005.201450
