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This paper proposes a novel discrete trajectory tracking controller for a class of nonholonomic vehicles. Using existing velocity control laws based on the kinematic model and backstepping technology, the proposed discrete controller can accommodate not only traditionally continuous trajectories but also trajectories involving discontinuity points, while retaining the stability proved by Lyapunov...
This paper introduces our research work of a Robocup middle-sized robot team composed of SmartROB2 robots. Sensor modeling and environmental information processing are described firstly. Then several crucial techniques, such as vision-based identification and localization, path planning and decision-making methods are discussed further. Simulation and experiment results are also given in the last...
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