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In this paper a unified motion control and planning algorithm dedicated for the waypoint following task realized by a skid-steering is presented. In order to reduce excessive slip effects between robot wheels and ground it is assumed that the vehicle moves with bounded velocities and accelerations. The motion controller has been designed using formal methods to ensure asymptotically stable tracking...
This paper is focused on a hybrid control solution designed for a skid-steering vehicle for point-to-point motion. It is assumed that the vehicle moves with limited velocities and accelerations in order to reduce excessive slip and skid effects. In order to obtain desired control properties, a motion planner is combined with a universal stabilizer taking advantage of transverse functions. To improve...
The paper presents a unified control framework for trajectory tracking and set-point motion tasks for a front-axle driven car-like robot. The concept relies on two crucial elements. The first one follows from reformulation of the vehicle kinematics into the form of the unicycle model for the vehicle body augmented with the front-wheel steering dynamics. The second one relies on application of the...
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