Navigation and control of a trolley by using a dynamical model: the dynamical model revisited

This work deals with the guidance and control of the motion of a trolley. The trolley is composed from two rear wheels, each of them controlled separately, and from a front castor wheel. Given N points P/sub i/, i=1, ..., N in the horizontal plane, a finite time interval [0, t/sub f/], and a sequence of times /spl tau//sub 1/=0