Design of a virtual mechanism for trajectory tracking of convoys of mobile robots

J. Gonzalez-Sierra; E. Aranda-Bricaire

doi:10.1109/ICEEE.2013.6676008

Design of a virtual mechanism for trajectory tracking of convoys of mobile robots

J. Gonzalez-Sierra, E. Aranda-Bricaire

Producción científica: Contribución a una conferencia › Artículo › revisión exhaustiva

7 Citas (Scopus)

Resumen

This paper proposes a control law to emulate the behavior of a standard n-trailer using a multi-agent robot system conformed by a group of unicycle-type robots. A sliding kingpin technique is used in order to reduce or completely eliminate the off-tracking (oversteer phenomenon) that the trailers of this kind of systems exhibit when they are following trajectories with a certain radius of curvature. Numerical simulations show the performance of the control law and a comparison is made between the control law with and without the sliding kingpin technique.

Idioma original	Inglés
Páginas	364-368
Número de páginas	5
DOI	https://doi.org/10.1109/ICEEE.2013.6676008
Estado	Publicada - 2013
Publicado de forma externa	Sí
Evento	2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2013 - Mexico City, México Duración: 30 sep. 2013 → 4 oct. 2013

Conferencia

Conferencia	2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2013
País/Territorio	México
Ciudad	Mexico City
Período	30/09/13 → 4/10/13

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10.1109/ICEEE.2013.6676008

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abstract = "This paper proposes a control law to emulate the behavior of a standard n-trailer using a multi-agent robot system conformed by a group of unicycle-type robots. A sliding kingpin technique is used in order to reduce or completely eliminate the off-tracking (oversteer phenomenon) that the trailers of this kind of systems exhibit when they are following trajectories with a certain radius of curvature. Numerical simulations show the performance of the control law and a comparison is made between the control law with and without the sliding kingpin technique.",

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Design of a virtual mechanism for trajectory tracking of convoys of mobile robots. / Gonzalez-Sierra, J.; Aranda-Bricaire, E.
2013. 364-368 Papel presentado en 2013 10th International Conference on Electrical Engineering, Computing Science and Automatic Control, CCE 2013, Mexico City, México.

Producción científica: Contribución a una conferencia › Artículo › revisión exhaustiva

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AU - Aranda-Bricaire, E.

PY - 2013

Y1 - 2013

N2 - This paper proposes a control law to emulate the behavior of a standard n-trailer using a multi-agent robot system conformed by a group of unicycle-type robots. A sliding kingpin technique is used in order to reduce or completely eliminate the off-tracking (oversteer phenomenon) that the trailers of this kind of systems exhibit when they are following trajectories with a certain radius of curvature. Numerical simulations show the performance of the control law and a comparison is made between the control law with and without the sliding kingpin technique.

AB - This paper proposes a control law to emulate the behavior of a standard n-trailer using a multi-agent robot system conformed by a group of unicycle-type robots. A sliding kingpin technique is used in order to reduce or completely eliminate the off-tracking (oversteer phenomenon) that the trailers of this kind of systems exhibit when they are following trajectories with a certain radius of curvature. Numerical simulations show the performance of the control law and a comparison is made between the control law with and without the sliding kingpin technique.

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KW - Off-tracking

KW - Trajectory tracking

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Design of a virtual mechanism for trajectory tracking of convoys of mobile robots

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