OTHER
Dynamic control of a nonholonomic mobile robot in Cartesian space
M. Tounsi, G. Lebret, Maxime Gautier
- Year
- 2002
- Citations
- 12
Abstract
This paper is focused on dynamic control of a mobile robot in Cartesian space. The control scheme is divided in two levels: a high level to control the position and the orientation of the platform, and a low level to regulate the velocity of the wheels. Experimental results show the advantage of introducing an identified dynamic model in the low level controller over a simplified model.
Keywords
Cartesian coordinate systemMobile robotControl theory (sociology)Cartesian coordinate robotNonholonomic systemComputer sciencePosition (finance)Scheme (mathematics)Controller (irrigation)Robot
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