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Research on kinematic modeling and path following for wheeled mobile robot
Zhang F(张凤); Li, Changguo; Yuan S(袁帅); Li, Siqi; Zhao LG(赵岚光)
Department机器人学研究室
Conference Name35th Chinese Control Conference, CCC 2016
Conference DateJuly 27-29, 2016
Conference PlaceChengdu, China
Author of SourceSouthwest Jiaotong University; Systems Engineering Society of China; Technical Committee on Control Theory (TCCT), CAA
Source PublicationProceedings of the 35th Chinese Control Conference, CCC 2016
PublisherIEEE Computer Society
Publication PlaceWashington, DC
2016
Pages4481-4486
Indexed ByEI ; CPCI(ISTP)
EI Accession number20163802827736
WOS IDWOS:000400282200153
Contribution Rank2
ISSN1934-1768
ISBN978-9-8815-6391-0
KeywordWheeled Mobile Robots Kinematics Dynamics Recursive Formulas Path Following
AbstractThis 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.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19242
Collection机器人学研究室
Corresponding AuthorLi, Changguo; Yuan S(袁帅)
Affiliation1.Shenyang Jianzhu University, Shenyang, 110168, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
Recommended Citation
GB/T 7714
Zhang F,Li, Changguo,Yuan S,et al. Research on kinematic modeling and path following for wheeled mobile robot[C]//Southwest Jiaotong University; Systems Engineering Society of China; Technical Committee on Control Theory (TCCT), CAA. Washington, DC:IEEE Computer Society,2016:4481-4486.
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