IEEE - Institute of Electrical and Electronics Engineers, Inc. - Discrete Trajectory Tracking Control of Wheeled Mobile Robots

Proceedings. 2004 IEEE International Conference on Robotics and Biomimetics

Author(s): Tang Shu-bo ; Zhuang Yan ; Liu Lei ; Wang Wei
Sponsor(s): IEEE Robotics and Autom. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2004
Conference Location: Shenyang, China
Conference Date: 22 August 2004
Page(s): 344 - 349
ISBN (Paper): 0-7803-8614-8
DOI: 10.1109/ROBIO.2004.1521802
Regular:

This paper proposes a novel discrete trajectory tracking controller for a class of nonholonomic vehicles. Using existing velocity control laws based on the kinematic model and backstepping... View More

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