Dynamics-based linearization and control of an autonomous ground vehicle.

Mohammad. Eghtesad
Several aspects of dynamics based motion control of autonomous ground vehicles have been studied. For example kinematic and dynamic modelling of the vehicle, path and motion planning, path following and trajectory tracking, stabilization to a manifold and a to a desired position with specified orientation have been considered. Assuming the (ideal) rolling without slipping conditions for a wheel imposes the nonholonomic (non-integrable) constraints on the motion of the wheel and the vehicle. Nonholonomic systems are...
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