Trajectory tracking for unicycle-type and two-steering-wheels mobile robots
نویسندگان
چکیده
Through two diierent approaches, this report proposes two general controllers for unicycle-type and two-steering-wheels mobile robots. For both systems, conditions for asymptotical convergence to a predeened path are established and simulation results are presented. Rather than writing the systems' equations with respect to a xed reference frame, the robot state is here parametrized relative to the followed path, in terms of distance and orientation. Poursuite de trajectoires pour v ehicules de type unicycle et robots mobiles a deux trains directeurs R esum e : Dans ce rapport, deux approches sont utilis ees pour la synth ese de lois de commande pour des v ehicules de type unicycle et des robots mobiles equip es de deux trains directeurs. Des conditions de convergence asympto-tique vers la trajectoire d esir ee sont donn ees et des r esultats de simulation sont pr esent es. Une originalit e des mod eles consid er es et des lois de com-mande propos ees provient de la param etrisation de l'attitude des v ehicules en termes de distance et d'orientation relativement a la trajectoire suivie. m ethodes de Lyapunov, rep ere de Frenet Trajectory tracking for unicycle-type and two-steering-wheels mobile robots 1
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