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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Jie Wan Chen, P. |
| Copyright Year | 2008 |
| Description | Author affiliation: Dept. of Mech. Eng., Nat. Univ. of Singapore, Singapore (Jie Wan; Chen, P.) |
| Abstract | This is the first part of the whole paper and in this part, characteristics of two similar nonlinear feedback control laws of differential mobile robots were investigated in a comparative framework. First evolutions of robot's heading under those two controls are studied. Then uniqueness of robot's trajectory with respect to gain ratio and characteristics of trajectory curvature are revealed. For the first time, the concept of ldquocritical gain ratiordquo is proposed. Simulation results are also presented. |
| Starting Page | 1224 |
| Ending Page | 1229 |
| File Size | 290239 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424422869 |
| DOI | 10.1109/ICARCV.2008.4795696 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2008-12-17 |
| Publisher Place | Vietnam |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Feedback control Mobile robots Robot kinematics Open loop systems Automatic control Robot control Robotics and automation Mechanical engineering Control systems Books trajectory nonholonomic mobile robot nonlinear feedback control |
| Content Type | Text |
| Resource Type | Article |
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