Research on kinematic modeling and path following for wheeled mobile robot
文献类型：会议论文
| 作者 | Zhang F(张凤); Li, Changguo; Yuan S(袁帅); Li, Siqi; Zhao LG(赵岚光) |
| 出版日期 | 2016 |
| 会议名称 | 35th Chinese Control Conference, CCC 2016 |
| 会议日期 | July 27-29, 2016 |
| 会议地点 | Chengdu, China |
| 关键词 | Wheeled mobile robots kinematics dynamics recursive formulas path following |
| 页码 | 4481-4486 |
| 中文摘要 | This paper researches on modeling and path following for wheeled mobile robot. The proposed approach of kinematic modeling based on recursive kinematic propagation (RKP) simplifies the derivation of relevant Jacobians and also provides the solution for general cases. The kinematic model can be implemented recursively using a single formula that applies to all cases. The algorithm of path following with compensating slip proposed can compensate the path error effectively by compensating sideslip, wheel slip and steering slip of the wheeled mobile robot. The proposed approach and algorithm have been verified by simulation. |
| 收录类别 | EI |
| 产权排序 | 2 |
| 会议主办者 | Southwest Jiaotong University; Systems Engineering Society of China; Technical Committee on Control Theory (TCCT), CAA |
| 会议录 | Proceedings of the 35th Chinese Control Conference, CCC 2016
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Washington, DC |
| 语种 | 英语 |
| ISSN号 | 1934-1768 |
| ISBN号 | 978-9-8815-6391-0 |
| 源URL | [http://ir.sia.cn/handle/173321/19242]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhang F,Li, Changguo,Yuan S,et al. Research on kinematic modeling and path following for wheeled mobile robot[C]. 见:35th Chinese Control Conference, CCC 2016. Chengdu, China. July 27-29, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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