Motion Control of Swedish Wheeled Mobile Robots in the Presence of Actuator Saturation

Abstract

Swedish wheeled mobile robots have remarkable mobility properties allowing them to rotate and translate at the same time. Being holonomic systems, their kinematics model results in the possibility of designing separate and independent position and heading trajectory tracking control laws. Nevertheless, if these control laws should be implemented in the… (More)
DOI: 10.1007/978-3-540-74024-7_4

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