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• W2052726419 abstract "Path-tracking controllers for tractor-trailer-like robots are de signed by generalizing the geometric path-tracking approach currently adopted for car-like robots. This is done by formaliz ing the concepts of speed and lateral and heading offsets and by assuming slippage-free motion. The main result is that for straight-line or circular-arc paths to be tracked with a con stant velocity, path-tracking may be ensured by means of a linear, time-invariant, and decoupled controller, the gains of which may be determined using familiar proportional-integral- derivative (PID) and state-feedback techniques." @default.
• W2052726419 created "2016-06-24" @default.
• W2052726419 creator A5030991959 @default.
• W2052726419 date "1994-12-01" @default.
• W2052726419 modified "2023-10-16" @default.
• W2052726419 title "Path-tracking for a Tractor-Trailer-like Robot" @default.
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• W2052726419 doi "https://doi.org/10.1177/027836499401300606" @default.
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