The paper solves some control problems of mobile robots as both kinematics and dynamics are intertwined in the mathematical model. The problems of driving the vehicle to a desired configuration in a specified time and tracking a reference trajectory are considered. The control problems associated with motion in convoy and rigid formations of a group of vehicles are studied and some results are demonstrated by numerical examples.

Topics:
Equations of motion, Kinematics, Mobile robots, Path planning, Trajectories (Physics), Vehicles, Dynamics (Mechanics)
This content is only available via PDF.
Copyright © 2008
 by ASME
You do not currently have access to this content.