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https://doi.org/10.1109/ICARCV.2008.4795696
| Title: | Analysis on nonlinear feedback controls for differential mobile robots and its application to multi-robot formation control - Part one | Authors: | Wan, J. Chen, P. |
Keywords: | Nonholonomic mobile robot Nonlinear feedback control Trajectory |
Issue Date: | 2008 | Citation: | Wan, J., Chen, P. (2008). Analysis on nonlinear feedback controls for differential mobile robots and its application to multi-robot formation control - Part one. 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008 : 1224-1229. ScholarBank@NUS Repository. https://doi.org/10.1109/ICARCV.2008.4795696 | Abstract: | This is the first part of the whole paper and in this part, characteristics of two similar nonlinear feedback control laws of differential mobile robots were investigated in a comparative framework. First evolutions of robot's heading under those two controls are studied. Then uniqueness of robot's trajectory with respect to gain ratio and characteristics of trajectory curvature are revealed. For the first time, the concept of "critical gain ratio" is proposed. Simulation results are also presented. © 2008 IEEE. | Source Title: | 2008 10th International Conference on Control, Automation, Robotics and Vision, ICARCV 2008 | URI: | http://scholarbank.nus.edu.sg/handle/10635/73188 | ISBN: | 9781424422876 | DOI: | 10.1109/ICARCV.2008.4795696 |
| Appears in Collections: | Staff Publications |
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