Abstract:
The paper presents a proposition of the trajectory tracking task solution for the car-like threecycle mobile vehicle from a theoretical point of view. Proposed concept co...Show MoreMetadata
Abstract:
The paper presents a proposition of the trajectory tracking task solution for the car-like threecycle mobile vehicle from a theoretical point of view. Proposed concept comes from the Vector Field Orientation (VFO) approach introduced for example in [9] and [10]. The VFO methodology results from a simple geometrical interpretation of the possible time evolution of the considered kinematics in a response to specific control signals. The characteristic features of the obtained VFO controller are its simple and intuitive synthesis and natural transient states of the controlled vehicle in a task space. Control performances are illustrated by simulation results.
Date of Conference: 15-15 December 2005
Date Added to IEEE Xplore: 30 January 2006
Print ISBN:0-7803-9567-0
Print ISSN: 0191-2216