An optimal velocity generation of a rear wheel drive tricycle along a specified path

被引：0
|
作者：
Bestaoui, Y [1 ]
机构：
[1] Univ Evry, CEMIF, F-91020 Evry, France
来源：
PROCEEDINGS OF THE 2000 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 2000年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The subject of this paper is motion generation of three-wheeled vehicles, taking into account dynamics and motors' current and slew rate constraints. Dynamics are described by a nonlinear nonholonomic model. Optimal velocity is determined along a specified path. The curvature of the path is known. As an application of the proposed algorithm, velocity of the tricycle can be approximated by simple functions of the curvature.
引用
收藏
页码：2907 / 2911
页数：5
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