Dynamics-based control of a mobile robot with non-holonomic constraints.

Victor. Lonmo
The development of a planetary rover for use on the moon or on Mars has generated further interest in autonomous vehicles which are capable of moving through a complicated terrain with minimal supervision. One approach for enhancing autonomy is a dynamics based controller which could ensure motion stability and avoid catastrophic events. This approach allows the monitoring of wheel to ground contact forces which is helpful in avoiding slippage and tipping. As a prelude to...
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