A tracking error model for the bi-steerable car

@article{TchenderliBraham2013ATE,
  title={A tracking error model for the bi-steerable car},
  author={S. A. Tchenderli-Braham and F. Hamerlain},
  journal={2nd International Conference on Systems and Computer Science},
  year={2013},
  pages={264-267}
}
In this paper we propose to develop a new tracking error model for a wheeled mobile robot (WMR) car in a double steering mode (bi-steerable car Bis-Car) by using an appropriate diffeomorfism (variable change) offering an easier error model to handle. This new model is dedicated for the trajectory tracking control tasks. 

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