書誌事項
- タイトル別名
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- Design of Steering Mechanism and Control of Nonholonomic Trailer Systems.
- ヒホロノミック トレーラ システム ノ ソウダ キコウ セッケイ ト セイギョ
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抄録
A wheeled mobile robot with trailers has been studied as a class of nonholonomic systems. It is proved that a tractor and all trailers can be stabilized to desired positions via nonholonomic motion control. On the other hand, trailers have been developed and widely used in the industry. The main focus of such designs is on reducing tracking error from reference trajectory. In this paper, we try to bridge between these two approaches. We develop a design theory of trailer systems with passive steering. These systems possess a good performance in practical path following, and accept proved and established various control strategies for nonholonomic systems.
収録刊行物
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- 日本ロボット学会誌
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日本ロボット学会誌 17 (6), 839-847, 1999
一般社団法人 日本ロボット学会
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詳細情報 詳細情報について
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- CRID
- 1390001204726807040
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- NII論文ID
- 10007550451
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- NII書誌ID
- AN00141189
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- ISSN
- 18847145
- 02891824
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- NDL書誌ID
- 4831308
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可