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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)
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
会议录名称Proceedings of the 35th Chinese Control Conference, CCC 2016
出版者IEEE Computer Society
出版地Washington, DC
2016
页码4481-4486
收录类别EI ; CPCI(ISTP)
EI收录号20163802827736
WOS记录号WOS:000400282200153
产权排序2
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
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19242
专题机器人学研究室
通讯作者Li, Changguo; Yuan S(袁帅)
作者单位1.Shenyang Jianzhu University, Shenyang, 110168, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
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]//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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