Trajectory tracking for unicycle-type and two-steering-wheels mobile robots

Abstract : Through two different approaches, this report proposes two general controllers for unicycle-type and two-steering-wheels mobile robots. For both systems, conditions for asymptotical convergence to a predefined path are established and simulation results are presented. Rather than writing the systems' equations with respect to a fixed reference frame, the robot state is here parametrized relative to the followed path, in terms of distance and orientation.
Type de document :
Rapport
[Research Report] RR-2097, INRIA. 1993
Liste complète des métadonnées

https://hal.inria.fr/inria-00074575
Contributeur : Rapport de Recherche Inria <>
Soumis le : mercredi 24 mai 2006 - 15:49:56
Dernière modification le : samedi 27 janvier 2018 - 01:30:56
Document(s) archivé(s) le : lundi 5 avril 2010 - 00:11:30

Fichiers

Identifiants

  • HAL Id : inria-00074575, version 1

Collections

Citation

Alain Micaelli, Claude Samson. Trajectory tracking for unicycle-type and two-steering-wheels mobile robots. [Research Report] RR-2097, INRIA. 1993. 〈inria-00074575〉

Partager

Métriques

Consultations de la notice

856

Téléchargements de fichiers

3098