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
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页码：2907 / 2911
页数：5
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