Kinematic algorithms for motion control in transportation systems of mobile robots

Authors
Krut'ko, PD Osipov, PA
Citation
Pd. Krut'Ko et Pa. Osipov, Kinematic algorithms for motion control in transportation systems of mobile robots, J COMP SYST, 38(3), 1999, pp. 482-489
Citations number
12
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL
ISSN journal
10642307 → ACNP
Volume
38
Issue
3
Year of publication
1999
Pages
482 - 489
Database
ISI
SICI code
1064-2307(199905/06)38:3<482:KAFMCI>2.0.ZU;2-Q
Abstract
Control algorithms are synthesized on the basis of kinematic equations. The structure of algorithms is determined from the condition of execution of t he given trajectories of motion. Control problems for a three wheeled syste m whose drive is mounted on the steering wheel are considered. The results of mathematical modeling of control processes for motion in a transportatio n system along standard trajectories are presented.