Title :
An optimal velocity generation of a rear wheel drive tricycle along a specified path
Author :
Bestaoui, Yasmina
Author_Institution :
CEMIF, Evry Univ., France
Abstract :
The subject of this paper is motion generation of three-wheeled vehicles, taking into account dynamics and motors´ current and slew rate constraints. Dynamics are described by a nonlinear nonholonomic model. Optimal velocity is determined along a specified path. The curvature of the path is known. As an application of the proposed algorithm, velocity of the tricycle can be approximated by simple functions of the curvature
Keywords :
mobile robots; nonlinear control systems; optimal control; robot dynamics; dynamics; mobile robot; motion generation; motor current constraints; motor slew rate constraints; nonlinear nonholonomic model; optimal velocity generation; path following; rear wheel drive tricycle; three-wheeled vehicles; Actuators; Axles; DC motors; Mobile robots; Motor drives; Permanent magnet motors; Robot control; Vehicle dynamics; Vehicles; Wheels;
Conference_Titel :
American Control Conference, 2000. Proceedings of the 2000
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-5519-9
DOI :
10.1109/ACC.2000.878742
