Experimental Comparison of Trajectory Trackers for a Car with Trailers
نویسندگان
چکیده
منابع مشابه
Experimental Comparison of Trajectory Trackers for a Car with Trailers
In this paper various design techniques are applied to the trajectory tracking problem for a mobile robot with trailers. Using simulations and experiments, we evaluate linear and nonlinear designs on the basis of implementation issues, stability and performance. After a careful design of their gains, the various feedback controllers have very close performance measures. In both the simulations ...
متن کاملNon-holonomic interpolation motion planning for the car with trailers
In this paper we present new results on the path planning problem in the case study of the car with trailers. We formulate the problem in the framework of optimal nonholonomic interpolation and we use standard techniques of nonlinear optimal control theory for deriving hyperelliptic signals as controls for driving the system in an optimal way. The hyperelliptic curves contains as many loops as ...
متن کاملa comparison of teachers and supervisors, with respect to teacher efficacy and reflection
supervisors play an undeniable role in training teachers, before starting their professional experience by preparing them, at the initial years of their teaching by checking their work within the proper framework, and later on during their teaching by assessing their progress. but surprisingly, exploring their attributes, professional demands, and qualifications has remained a neglected theme i...
15 صفحه اولan application of fuzzy logic for car insurance underwriting
در ایران بیمه خودرو سهم بزرگی در صنعت بیمه دارد. تعیین حق بیمه مناسب و عادلانه نیازمند طبقه بندی خریداران بیمه نامه براساس خطرات احتمالی آنها است. عوامل ریسکی فراوانی می تواند بر این قیمت گذاری تاثیر بگذارد. طبقه بندی و تعیین میزان تاثیر گذاری هر عامل ریسکی بر قیمت گذاری بیمه خودرو پیچیدگی خاصی دارد. در این پایان نامه سعی در ارائه راهی جدید برای طبقه بندی عوامل ریسکی با استفاده از اصول و روش ها...
Flatness and motion planning : the car with n trailers . ∗
A solution of the motion planning without obstacles for the nonholonomic system describing a car with n trailers is proposed. This solution relies basically on the fact that the system is flat with the cartesian coordinates of the last trailer as linearizing output. The Frnet formulas are used to simplify the calculation. The 2-trailers case is treated in details and illustrated through parking...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC Proceedings Volumes
سال: 1996
ISSN: 1474-6670
DOI: 10.1016/s1474-6670(17)58101-x