Trajectory tracking for a threecycle mobile robot: the vector field orientation approach
[ 1 ] Katedra Sterowania i Inżynierii Systemów (KI), Wydział Informatyki i Zarządzania, Politechnika Poznańska | [ P ] pracownik
2005
referat
angielski
EN The paper presents a proposition of the trajectory tracking task solution for the car-like threecycle mobile vehicle from a theoretical point of view. Proposed concept comes from the Vector Field Orientation (VFO) approach introduced for example in [9] and [10]. The VFO methodology results from a simple geometrical interpretation of the possible time evolution of the considered kinematics in a response to specific control signals. The characteristic features of the obtained VFO controller are its simple and intuitive synthesis and natural transient states of the controlled vehicle in a task space. Control performances are illustrated by simulation results.
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