Cart (Loading....) | Create Account
Close category search window
 

Path-tracking for car-like robots with single and double steering

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Desantis, R.M. ; Ecole Polytech., Montreal, Que., Canada

A procedure for the design of path-tracking controllers for car-like robots is proposed which is based on a formalization of the notion of path-tracking that is traditional in automotive applications. The advantage of this procedure over current methods is that it is applicable to a larger class of vehicles (car-like robots with single or double steering), to more general paths (in particular, circular paths), and to a tracking velocity that is not necessarily constant. When the path is a straight line or a circular arc, the tracking offsets are small and the assigned velocity is constant, then the proposed procedure leads to a controller with a linear, time-invariant, and decoupled PID (proportional, integral, and derivative) structure

Published in:

Vehicular Technology, IEEE Transactions on  (Volume:44 ,  Issue: 2 )

Date of Publication:

May 1995

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.