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Proceedings Paper

Universal adaptive lambda tracker for nonholonomic wheeled mobile robots moving on a plane in three-dimensional space
Author(s): Alicja Mazur
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Paper Abstract

This paper presents a universal adaptive (lambda) -tracking control algorithm for wheeled mobile robots moving on the plane in the 3D space. The introduce control algorithm maybe considered as a dynamic version of the PD controller requiring only a knowledge of the robot kinematics. This controller preserves the convergence of the position tracking error of mobile robots to the ball of radius (lambda) > 0, where (lambda) is arbitrary but prespecified. Theoretical considerations are illustrated with simulations.

Paper Details

Date Published: 8 January 1999
PDF: 11 pages
Proc. SPIE 3525, Mobile Robots XIII and Intelligent Transportation Systems, (8 January 1999); doi: 10.1117/12.335709
Show Author Affiliations
Alicja Mazur, Wroclaw Univ. of Technology (Poland)


Published in SPIE Proceedings Vol. 3525:
Mobile Robots XIII and Intelligent Transportation Systems
Howie M. Choset; Pushkin Kachroo; Mikhail A. Kourjanski; Douglas W. Gage; Pushkin Kachroo; Marten J. de Vries; Mikhail A. Kourjanski; Marten J. de Vries, Editor(s)

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