Control of a car-like robot using a dynamic model
- 27 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4 (10504729), 3273-3278
- https://doi.org/10.1109/robot.1998.680943
Abstract
A solution to the problem of controlling a car-like nonholonomic robot is proposed using a "virtual" vehicle approach, which is shown to be robust with respect to errors and disturbances. The proposed algorithms are model independent, and the stability analysis is done using a dynamical model in which, for instance, the side slip angles are taken into account.Keywords
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