Mobile robots characterized by kinematic and dynamic equations: Motion planning, trajectory tracking, and group control

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6 Scopus citations

Abstract

The paper solves some control problems of mobile robots as both kinematics and dynamics are intertwined in the mathematical model. The problems of driving the vehicle to a desired configuration in a specified time and tracking a reference trajectory are considered. The control problems associated with motion in convoy and rigid formations of a group of vehicles are studied and some results are demonstrated by numerical examples.

Original languageEnglish
Title of host publication2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008
Pages583-590
Number of pages8
EditionPART A
StatePublished - 19 Oct 2009
Event2008 ASME Dynamic Systems and Control Conference, DSCC 2008 - Ann Arbor, MI, United States
Duration: 20 Oct 200822 Oct 2008

Publication series

Name2008 Proceedings of the ASME Dynamic Systems and Control Conference, DSCC 2008
NumberPART A

Conference

Conference2008 ASME Dynamic Systems and Control Conference, DSCC 2008
Country/TerritoryUnited States
CityAnn Arbor, MI
Period20/10/0822/10/08

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