關鍵字查詢 | 類別:期刊論文 | | 關鍵字:Fast Parking Control of Mobile Robots

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序號 學年期 教師動態
1 93/1 電機系 蔡奇謚 教授 期刊論文 發佈 Fast Parking Control of Mobile Robots: A Motion Planning Approach with Experimental Validation , [93-1] :Fast Parking Control of Mobile Robots: A Motion Planning Approach with Experimental Validation期刊論文Fast Parking Control of Mobile Robots: A Motion Planning Approach with Experimental ValidationTsai, Chi-yi; Lee, Ti-chung; Song, Kai-tai淡江大學電機工程學系Locally exponential convergence;mobile robots;motion planning;parking control;pole placement;tracking controlIEEE Transactions on Control Systems Technology 12(5), pp.661-676This paper presents a solution to the general parking problem of nonholonomic mobile robots based on motion planning and tracking controller design. A new global tracking controller is first proposed to achieve global uniformly asymptotic stability and local exponential convergence. The parking problem is then transformed into a tracking one by adding a redesigned virtual trajectory to the original trajectory, thus guaranteeing practical stability with exponential convergence. Further improvement in parking performance is obtained through linearization and pole-placement meth
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