DocumentCode
1501061
Title
Steering kinematics for a center-articulated mobile robot
Author
Corke, Peter I. ; Ridley, Peter
Author_Institution
CSIRO Manuf. Sci. & Technol., Kenmore, Australia
Volume
17
Issue
2
fYear
2001
fDate
4/1/2001 12:00:00 AM
Firstpage
215
Lastpage
218
Abstract
This paper discusses the steering kinematics for a center-articulated mobile robot. Several models have been recently proposed in the literature and we use experimental data to compare and validate these models. The vehicle heading response to steering command is shown to include a dominant zero due a nonholonomic constraint, and this is verified by experiments conducted using a 30-t mobile vehicle at our laboratory. Simulation results are then used to show the significance of this zero and its effect on closed-loop heading angle control
Keywords
closed loop systems; mobile robots; poles and zeros; robot kinematics; 28.5 tonne; 30 tonne; 8 tonne; center-articulated mobile robot; closed-loop heading angle control; dominant zero; mobile vehicle; nonholonomic constraint; steering kinematics; Adhesives; Automatic control; Automation; Kinematics; Mobile robots; Steady-state; Tires; Turning; Vehicle safety; Wheels;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.928568
Filename
928568
Link To Document