Title :
Trajectory tracking for non-holonomic vehicles: overview and case study
Author :
Morin, P. ; Samson, C.
Author_Institution :
INRIA, France
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;
Conference_Titel :
Robot Motion and Control, 2004. RoMoCo'04. Proceedings of the Fourth International Workshop on
Print_ISBN :
83-7143-272-0
DOI :
10.1109/ROMOCO.2004.240574
