TY - GEN
T1 - Controllers for mobile robot dynamic models
T2 - 2009 17th Mediterranean Conference on Control and Automation, MED 2009
AU - Zohar, Ilan
AU - Ailon, Amit
AU - Rabinovici, Raul
PY - 2009/11/25
Y1 - 2009/11/25
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=70450016826&partnerID=8YFLogxK
U2 - 10.1109/MED.2009.5164516
DO - 10.1109/MED.2009.5164516
M3 - Conference contribution
AN - SCOPUS:70450016826
SN - 9781424446858
T3 - 2009 17th Mediterranean Conference on Control and Automation, MED 2009
SP - 67
EP - 72
BT - 2009 17th Mediterranean Conference on Control and Automation, MED 2009
Y2 - 24 June 2009 through 26 June 2009
ER -