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Tracking of an omnidirectional targetwith a unicycle-like robot:control design and experimental results

Abstract : A control strategy for tracking an omnidirectional target with a unicycle-like robot is proposed. An originality of the approach is that the target is allowed to move freely in the plane and perform motions which are not feasible by the nonholonomic robot. Control implementation involves the design of an estimator of the target's velocity, from visual and odometry measurements. Finally, simulation and experimental results are reported.
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https://hal.inria.fr/inria-00071734
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Submitted on : Tuesday, May 23, 2006 - 6:38:05 PM
Last modification on : Friday, February 4, 2022 - 3:21:49 AM
Long-term archiving on: : Sunday, April 4, 2010 - 10:35:36 PM

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  • HAL Id : inria-00071734, version 1

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Guillaume Artus, Pascal Morin, Claude Samson. Tracking of an omnidirectional targetwith a unicycle-like robot:control design and experimental results. RR-4849, INRIA. 2003. ⟨inria-00071734⟩

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