DocumentCode
309542
Title
Dynamic tracking of a wheeled mobile robot
Author
Deng, Zhongping ; Brady, Michael
Author_Institution
Dept. of Eng. Sci.,Oxford Univ., UK
Volume
2
fYear
1993
fDate
26-30 Jul 1993
Firstpage
1295
Abstract
Based on a dynamic model of a wheeled mobile robot (WMR), a dynamic control method is developed so that the WMR tracks a desired trajectory. The full nonlinear dynamics and the kinematic constraints are embodied in the controller. The steering and driving torques are chosen as the control inputs. Examples are presented that demonstrate the effectiveness of the model and the control methods
Keywords
mobile robots; control inputs; driving torques; dynamic control method; dynamic tracking; kinematic constraints; nonlinear dynamics; steering torque; trajectory; wheeled mobile robot; Mobile robots; Motion control; Motion planning; Robot control; Robot kinematics; Torque control; Trajectory; Vehicle dynamics; Vehicles; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location
Yokohama
Print_ISBN
0-7803-0823-9
Type
conf
DOI
10.1109/IROS.1993.583754
Filename
583754
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