On the tracking control of differentially steered wheeled mobile robots

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 119, Issue 3, 1997, Pages 455-461

  Zhang, Y L ^a,b   Velinsky, S A ^a   Feng, X ^a  

^a UNIVERSITY OF CALIFORNIA   (United States)

^b Changsha Institute of Technology   (China)

Author keywords

[No Author keywords available]

Indexed keywords

EID: 0000059228     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.2801278     Document Type: Article

References (12)

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2. Boyden, D. and Velinsky, S. A., 1994, “Dynamic Modeling of Wheeled Mobile Robots for High Load Applications,” Proc. of the IEEE International Conference on Robotics and Automation, pp. 3071-3078.
3. Brockett, R. W., 1983, “Asymptotic Stability and Feedback Stabilization,” Differential Geometric Control Theory, R. W. Brockett, R. R. Millman and H. J. Sussman, eds., Birkhauser, Boston, pp. 183-191.
4. Cox, I. J. and Wifong, G. T., 1990, Autonomous Robot Vehicles, Springer Verlag.
5. Hamdy, A. and Badreddin, E., 1992, “Dynamic Modeling of a Wheeled Mobile Robot for Identification, Navigation and Control,” Robotics and Flexible Manufacturing Systems, J. C. Gentina and S. G. Tzafestas, eds., Elsevier Science, North-Hoiland, pp. 119-128.
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7. Kanayama, Y., Kimura, Y., Miyazaki, F., and Noguchi, T., 1990, “A Stable Tracking Control Method for an Autonomous Mobile Robot,” Proc. of the IEEE International Conference on Robotics and Automation, Vol. 1, pp. 384-389.
8. Lee, S. S., and Williams, J. H., 1993, “A Fast Tracking Error Control Method for an Autonomous Mobile Robot,” Robotica, Vol. 11, pp. 205-215.
9. Muir, P. F., and Neuman, C. P., 1987, “Kinematic Modeling of Wheeled Mobile Robots,” Journal of Robotic Systems, Vol. 4, No. 2, pp. 281-340.
10. Samson, C. and Ait-Abderrahim, K., 1991, “Feedback Control of a Nonholo-nomic Wheeled Cart in Cartesian Space,” Proc. IEEE Int. Conference on Robotics and Automation, pp. 1136-1141.
11. Walsh, G., Tilbury, D., Sastry, S., Murray, R., and Laumond, J. P., 1992, “Stabilization of Trajectories for Systems with Nonholonomic Constraints,” Proc. of the IEEE International Conference on Robotics and Automation, pp, 1999-2004.
12. Winters, S. E., and Velinsky, S. A., 1992, “Development of a Tethered Mobile Robot (TMR) for Highway Maintenance,” AHMCTResearch Report UCD-ARR-92-11-25-01, University of California at Davis.