ON TRACKING CONTROL OF P3DX MOBILE ROBOTS

摘要：

This paper is devoted to the problem of trajectory trac king control of P3DX wheeled mobile robots, and thre e different control methods are discussed. Since the m odel of mobile robots is nonlinear and nonholonomic, we have to test many sets of parameters by the simul ation to optimize parameters of the control laws. The comparison of the three control methods is made and t he corresponding conclusions are given.

关键词： Wheeled mobile robots Tracking control Optimization Velocity constraints

作者: Jie Liu Yingmin jia Na Ni

作者单位: Seventh Research Division,Beihang University (BUAA),Beijing

会议类型: 国际会议

会议名称: 2008年拟人系统国际会议(2008 International Conference on Humanized Systems )(ICHS’08)

会议地点: 北京

会议语种:英文

在线出版日期: 2008-10-18（万方平台首次上网日期，不代表论文的发表时间）