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Controllers for mobile robot dynamic models: Trajectory tracking with applications to convoy-like vehicles

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3 Author(s)
Zohar, I. ; Dept. of Electr. & Comput. Eng., Ben Gurion Univ. of the Negev, Beer-Sheva, Israel ; Ailon, A. ; Rabinovici, R.

This paper establishes control strategies for a wheeled mobile robot model that includes the kinematic and dynamic equations of motion. The vehicle model accounts also for the actuator dynamics. The paper proposes simple control schemes for tracking a time-parameterizing path. Applications of the tracking controller for convoy-like vehicles are presented. Simulation results and demonstrations of the controller performances are discussed.

Published in:

Control and Automation, 2009. MED '09. 17th Mediterranean Conference on

Date of Conference:

24-26 June 2009