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  5. Dynamic modeling and control of wheeled mobile robots in rigid and convoy-like formations subject to

Dynamic modeling and control of wheeled mobile robots in rigid and convoy-like formations subject to

来源 :The 4th International Conference on Dynamics, Vibration and | 被引量 : 0次 | 上传用户：kuwa_li
【摘 要】
：
Most of previous studies on control of nonholonomic wheeled-mobile robots (WMRs) focused on control of the kinematic vehicle model.However, in real applications knowledge of the WMR dynamics is needed
【作 者】
：
Amit Ailon 
【机 构】
：
Dept.of Electrical and Computer Engineering, Ben Gurion University of the Negev, Beer Sheva, Israel
【出 处】
：
The 4th International Conference on Dynamics, Vibration and
【发表日期】
：
2014年8期
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Most of previous studies on control of nonholonomic wheeled-mobile robots (WMRs) focused on control of the kinematic vehicle model.However, in real applications knowledge of the WMR dynamics is needed and practical control strategies should account for both the kinematic and the dynamic effects.Furthermore in real applications physical and control constraints should be taken into considerations.In this study we consider control problems of the highly nonlinear kinematic/dynamic model of WMRs with restricted inputs.
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