Robotics 1 Wheeled Mobile Robots Analysis, Planning, and Control
Robotics 1 Wheeled Mobile Robots Analysis, Planning, and Control
Robotics 1 Wheeled Mobile Robots Analysis, Planning, and Control
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Summary<br />
� uses of the kinematic model of WMR<br />
� controllability analysis* (for nonlinear systems)<br />
� odometry<br />
� model transformations<br />
� time scaling<br />
� path/trajectory planning<br />
� control design<br />
� regulation to a configuration<br />
� trajectory tracking<br />
* background on differential geometry in appendix<br />
<strong>Robotics</strong> 1 2
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