Mobile Robot Control based on Car-like Robots

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Description

➢ Inputs: u1 (throttle control), phi (steering control)
➢ Outputs: x, y, theta

 

We cannot drive the robot to move at the speed (vxd, vyd) along the rear wheel axis direction as side slip is not possible.
➢ Similar to DD robot, we can set a new reference point to overcome this issue.
➢ New Reference Point (xr, yr):

Control of Car-like Robots

Control of Car-like Robots

 

The new reference point (xr, yr) (the red spot in the figure). Note the new reference point is along the central line of the robot with a length from the old reference point for d.

 

 

The kinematics of the reference point can be obtained as

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Define u2=u1*tan(phi), the above equations become

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In matrix form,

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SKU: CARLKRBTQ915 Category: