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.

引用

页数：6

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