Control of a Car-Like Robot Using a Virtual Vehicle Approach

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/38678

Title: Control of a Car-Like Robot Using a Virtual Vehicle Approach
Author: Egerstedt, Magnus B. ; Hu, Xiaoming ; Stotsky, A.
Abstract: A solution to the problem of controlling a car-like nonholonomic robot is proposed using a “virtual” vehicle approach, which is shown to be robust with respect to errors and disturbances. The proposed algorithms are model independent, and the stability analysis is done using a dynamical model in which the side slip angles are taken into account.
Description: (c) 1998 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Digital Object Identifier : 10.1109/CDC.1998.758501
Type: Proceedings
URI: http://hdl.handle.net/1853/38678
ISBN: 0-7803-4394-8
Citation: M. Egerstedt, X. Hu, and A. Stotsky. Control of a Car-Like Robot Using a Virtual Vehicle Approach. Proceedings of the 37th IEEE Conference on Decision and Control, pp. 1502-1507, Tampa, Florida, USA, Dec. 1998.
Date: 1998-12
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Kungl. Tekniska högskolan. Avdelningen för Optimeringslära och systemteori
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Mobile robots
Path planning
Robot dynamics

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