A practical approach to feedback control for a mobile robot with trailer
- 27 November 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 4, 3291-3296
- https://doi.org/10.1109/robot.1998.680946
Abstract
This paper presents a robust method to control amobile robot towing a trailer. Both problems of trajectorytracking and steering to a given configurationare addressed. This second issue is solved by an iterativetrajectory tracking. Perturbations are taken intoaccount along the motions. Experimental results onthe mobile robot Hilare illustrate the validity of ourapproach.1 IntroductionMotion control for nonholonomic systems havegiven rise to a lot of work for the past 8 years....Keywords
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