Trajectory planning for a four-wheel robot using decomposition-coordination principle

被引：0
|
作者：
El Ouarrak, Hala [1 ]
Bouaine, Amine [1 ]
Rachik, Mostafa [1 ]
Mestari, Mohammed [2 ]
机构：
[1] Univ Hassan II Mohammedia, Dept Math, Fac Sci Ben MSik, Casablanca, Morocco
[2] ENSET Mohammedia, Dept Comp Sci, Mohammadia, Morocco
来源：
PROCEEDINGS OF 2015 THIRD IEEE WORLD CONFERENCE ON COMPLEX SYSTEMS (WCCS) | 2015年
关键词：
Trajectory planning; Autonomous navigation; Robotic; Control theory; Nonlinear control systems;
D O I：
暂无
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
This paper addresses the problem of trajectory planning for a four-wheel robot while taking into consideration its kinematic and dynamic constraints. The process begins first, by determining a model for the robot, then solving the nonlinear equation using the decomposition-coordination principle which allows the nonlinearity to be treated at a local level. The coordination is gained by using the Lagrange multipliers. A numerical application is presented to highlight the advantages of the approach we use in this paper.
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页数：6
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