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dc.contributor.authorAkhtar, Adeel
dc.contributor.authorNielsen, Christopher
dc.contributor.authorWaslander, Steven L.
dc.date.accessioned2021-09-23 13:34:15 (GMT)
dc.date.available2021-09-23 13:34:15 (GMT)
dc.date.issued2015-02-16
dc.identifier.urihttps://doi.org/10.1109/TRO.2015.2395711
dc.identifier.urihttp://hdl.handle.net/10012/17493
dc.descriptionAkhtar, A., Nielsen, C., & Waslander, S. L. (2015). Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots. IEEE Transactions on Robotics, 31(2), 269–279. https://doi.org/10.1109/TRO.2015.2395711en
dc.description.abstractThis paper presents an approach for designing path following controllers for the kinematic model of car-like mobile robots using transverse feedback linearization with dynamic extension. This approach is applicable to a large class of paths and its effectiveness is experimentally demonstrated on a Chameleon R100 Ackermann steering robot. Transverse feedback linearization makes the desired path attractive and invariant while the dynamic extension allows the closed-loop system to achieve the desired motion along the path.en
dc.description.sponsorshipPartially supported by the Natural Sciences and Engineering Research Council of Canada (NSERC)en
dc.language.isoenen
dc.publisherIEEEen
dc.relation.ispartofseriesIEEE Transactions on Robotics;
dc.subjectVectorsen
dc.subjectManifoldsen
dc.subjectPolynomialsen
dc.subjectRobot kinematicsen
dc.subjectApproximation methodsen
dc.subjectKinematicsen
dc.titlePath following using dynamic transverse feedback linearization for car-like robotsen
dc.typeArticleen
dcterms.bibliographicCitationAkhtar, A., Nielsen, C., & Waslander, S. L. (2015). Path Following Using Dynamic Transverse Feedback Linearization for Car-Like Robots. IEEE Transactions on Robotics, 31(2), 269–279. https://doi.org/10.1109/TRO.2015.2395711en
uws.contributor.affiliation1Faculty of Engineeringen
uws.contributor.affiliation2Electrical and Computer Engineeringen
uws.typeOfResourceTexten
uws.peerReviewStatusRevieweden
uws.scholarLevelFacultyen


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