Design of a Virtual Mechanism for Trajectory Tracking of Convoys of Mobile Robots

被引：0
|
作者：
Gonzalez-Sierra, J. [1 ]
Aranda-Bricaire, E. [1 ]
机构：
[1] CINVESTAV, Mechatron Sect, Dept Elect Engn, Mexico City 07000, DF, Mexico
来源：
2013 10TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING, COMPUTING SCIENCE AND AUTOMATIC CONTROL (CCE) | 2013年
关键词：
Mobile robots; Trajectory tracking; Off-tracking; n-trailer; OFF-TRACKING;
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：
This paper proposes a control law to emulate the behavior of a standard n-trailer using a multi-agent robot system conformed by a group of unicycle-type robots. A sliding kingpin technique is used in order to reduce or completely eliminate the off-tracking (oversteer phenomenon) that the trailers of this kind of systems exhibit when they are following trajectories with a certain radius of curvature. Numerical simulations show the performance of the control law and a comparison is made between the control law with and without the sliding kingpin technique.
引用
收藏
页码：364 / 368
页数：5
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