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题名:
Research on kinematic modeling and path following for wheeled mobile robot
作者: Zhang F(张凤); Li, Changguo; Yuan S(袁帅); Li, Siqi; Zhao LG(赵岚光)
作者部门: 机器人学研究室
会议名称: 35th Chinese Control Conference, CCC 2016
会议日期: July 27-29, 2016
会议地点: Chengdu, China
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
出版日期: 2016
页码: 4481-4486
收录类别: EI
ISSN号: 1934-1768
ISBN号: 978-9-8815-6391-0
关键词: Wheeled mobile robots ; kinematics ; dynamics ; recursive formulas ; path following
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.
语种: 英语
产权排序: 2
EI收录号: 20163802827736
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/19242
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Zhang F,Li, Changguo,Yuan S,et al. Research on kinematic modeling and path following for wheeled mobile robot[C]. 35th Chinese Control Conference, CCC 2016. Chengdu, China. July 27-29, 2016.Research on kinematic modeling and path following for wheeled mobile robot.
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