Control of nonholonomic robot with quality factors

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI:10.1109/ROMOCO.2005.201450

P. Szulczyhski, K. Kozlowski

引用次数: 0

Abstract

This paper describes the steering of a unicycle-like vehicle using the algorithm proposed by Morin and Samson (2000) in trajectory tracking process. The influence of controller parameters on quality steering was tested by choosing quality factors. Simulation results illustrating quality factors are presented.

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带质量因子的非完整机器人控制

本文利用Morin和Samson(2000)在轨迹跟踪过程中提出的算法，描述了类独轮车的转向问题。通过选择质量因子，验证了控制器参数对质量转向的影响。给出了说明质量因素的仿真结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.

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