Title:
Control of a Car-Like Robot Using a Virtual Vehicle Approach
Control of a Car-Like Robot Using a Virtual Vehicle Approach
Author(s)
Egerstedt, Magnus B.
Hu, Xiaoming
Stotsky, A.
Hu, Xiaoming
Stotsky, A.
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Abstract
A solution to the problem of controlling a car-like nonholonomic robot is proposed using a "virtual" vehicle approach, which is shown to be robust with respect to errors and disturbances. The proposed algorithms are model independent, and the stability analysis is done using a dynamical model, in which, for instance, the side slip angles are taken into account.
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Date Issued
1999-07
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Text
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Proceedings