Methods for steering car-like robots with trailers are investigated. A connection is demonstrated between Murray and Sastry's (1990, 1991) work of steering with integrally related sinusoids and Sussmann and Liu's (1991) recent work on asymptotic behavior of systems with high-frequency sinusoids as inputs. The merits of coordinate transformations, relative to the convergence properties, are discussed. Simulation results for a car-like robot with two trailers are presented.<>


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    Titel :

    Steering car-like systems with trailers using sinusoids


    Beteiligte:
    Tilbury, D. (Autor:in) / Laumond, J.-P. (Autor:in) / Murray, R. (Autor:in) / Sastry, S. (Autor:in) / Walsh, G. (Autor:in)


    Erscheinungsdatum :

    01.01.1992


    Format / Umfang :

    530840 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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