非完整自动驾驶车辆及其编队控制

2010 15th International Conference on Methods and Models in Automation and Robotics Pub Date : 2010-09-27 DOI:10.1109/MMAR.2010.5587268

D. Necsulescu, Elisha Pruner, J. Sasiadek, Bumsoo Kim

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引用次数: 11

摘要

本文分析了非完整车辆(带差动后轮的移动机器人)在镇定和领导-跟随机动方面的几种控制方案。为了评估现有控制方案的性能和测试本文提出的新控制方案，已经进行了大量的仿真研究。对非整体车辆的实验结果表明，极坐标控制对于从动件的各种初始条件都是有效的，无论是在镇定方面还是在跟踪方面。

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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Control of nonholonomic autonomous vehicles and their formations

This paper analyzes several control schemes for nonholonomic vehicles (mobile robots with differential rear wheels) in stabilization and leader — follower manoeuvres. Extensive simulation studies have been conducted to evaluate the performance of existing control schemes and to test new control schemes suggested in this paper. The results for nonholomic vehicles show that polar coordinates control is effective for a variety of initial conditions of the follower, both in stabilization and in tracking.

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来源期刊

2010 15th International Conference on Methods and Models in Automation and Robotics

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