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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    Title :

    Steering car-like systems with trailers using sinusoids


    Contributors:
    Tilbury, D. (author) / Laumond, J.-P. (author) / Murray, R. (author) / Sastry, S. (author) / Walsh, G. (author)


    Publication date :

    1992-01-01


    Size :

    530840 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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