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- W2133066324 abstract "A stable tracking control rule is proposed for nonholonomic vehicles. The stability of the rule is proved through the use of a Liapunov function. Inputs to the vehicle are a reference posture (x/sub r/, y/sub r/, theta /sub r/)/sup t/ and reference velocities ( nu /sub r/, omega /sub r/)/sup t/. The major objective of this study is to propose a control rule to find reasonable target linear and rotational velocities ( nu , omega )/sup t/. Linearizing the system's differential equation is useful for deciding parameters for critical dumping for a small disturbance. In order to avoid slippage, a velocity/acceleration limitation scheme is introduced. Several simulation results are presented with or without the velocity/acceleration limiter. The control rule and limiting method proposed are robot independent and hence can be applied to various kinds of mobile robots with a dead reckoning ability. This method was implemented on the autonomous mobile robot Yamabico-11. Experimental results obtained are close to the results with the velocity/acceleration limiter.< <ETX xmlns:mml=http://www.w3.org/1998/Math/MathML xmlns:xlink=http://www.w3.org/1999/xlink>></ETX>" @default.
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- W2133066324 date "2002-12-04" @default.
- W2133066324 modified "2023-10-16" @default.
- W2133066324 title "A stable tracking control method for an autonomous mobile robot" @default.
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- W2133066324 doi "https://doi.org/10.1109/robot.1990.126006" @default.
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