TY - GEN
T1 - Point-to-point control and trajectory tracking in wheeled mobile robots
T2 - 17th World Congress, International Federation of Automatic Control, IFAC
AU - Ailon, Amit
AU - Zohar, Ilan
PY - 2008/12/1
Y1 - 2008/12/1
N2 - This paper extends previous results in the framework of vehicle control. In particular the paper proposes simple control schemes for driving the vehicle from a given configuration to a prescribed posture in the configuration space, for tracking a time parameterizing path, and for driving a group of vehicles in convoy. We consider the point-to-point and tracking control problems when the controller accounts for the actuator dynamics.
AB - This paper extends previous results in the framework of vehicle control. In particular the paper proposes simple control schemes for driving the vehicle from a given configuration to a prescribed posture in the configuration space, for tracking a time parameterizing path, and for driving a group of vehicles in convoy. We consider the point-to-point and tracking control problems when the controller accounts for the actuator dynamics.
KW - Autonomous vehicle navigation, guidance and control
KW - Motion control
KW - Trajectory tracking and path following
UR - http://www.scopus.com/inward/record.url?scp=79961018153&partnerID=8YFLogxK
U2 - 10.3182/20080706-5-KR-1001.2737
DO - 10.3182/20080706-5-KR-1001.2737
M3 - Conference contribution
AN - SCOPUS:79961018153
SN - 9783902661005
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Y2 - 6 July 2008 through 11 July 2008
ER -