DYNAMICS CONTROL OF AN AUTONOMOUS WHEELED GROUND VEHICLE

被引：0
|
作者：
NESULESCU, DS
KIM, B
KALAYCIOGLU, S
机构：
[1] Univ of Ottawa, Ottawa, Ont
来源：
TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING | 1993年 / 17卷 / 4B期
关键词：
D O I：
10.1139/tcsme-1993-0042
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
Autonomous motion of unmanned vehicles requires a control approach which is able to generate and correct the trajectory of the vehicle in order to avoid collisions with unexpected obstacles and takes into account the contact forces between the wheels and the ground such that the slippage is avoided. For achieving autonomy a dynamics based control approach is formulated for a three-wheeled vehicle with front wheel driving and steering. The relationship of the proposed controller and an impedance controller are also discussed based on an analysis of the feedback linearization. Simulation results illustrate the performance of the proposed controller with regard to collision avoidance.
引用
收藏
页码：735 / 758
页数：24
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