Steering kinematics for a center-articulated mobile robot

被引：30

作者：

Corke, PI ^{[1
]}

Ridley, P

机构：

[1] CSIRO Mfg Sci & Technol, Kenmore 4069, Australia

[2] Queensland Univ Technol, Sch Mech Engn, Brisbane, Qld 4001, Australia

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2001年 / 17卷 / 02期

关键词：

autonomous vehicle; load-haul-dump; nonholonomic; steering control;

D O I：

10.1109/70.928568

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper discusses the steering kinematics for a center-articulated mobile rebut. Several models have been recently proposed in the literature and we use experimental data to compare and validate these models, The vehicle heading response to steering command is shown to include a dominant zero due a nonholonomic constraint, and this is verified by experiments conducted using a 30-t mobile vehicle at our laboratory. Simulation results are then used to show the significance of this zero and its effect on closed-loop heading angle control.

引用

页码：215 / 218

页数：4

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