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Steering car-like systems with trailers using sinusoids

Tilbury, D. and Laumond, J.-P. and Murray, R. and Sastry, S. Shankar and Walsh, G. (1992) Steering car-like systems with trailers using sinusoids. In: Proceedings 1992 IEEE International Conference on Robotics and Automation. Vol.3. IEEE , Piscataway, NJ, pp. 1993-1998. ISBN 0-8186-2720-4.

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Methods for steering car-like robots with trailers are investigated. A connection is demonstrated between Murray and Sastry's (1990, 1991) work of steering with integrally related sinusoids and Sussmann and Liu's (1991) recent work on asymptotic behavior of systems with high-frequency sinusoids as inputs. The merits of coordinate transformations, relative to the convergence properties, are discussed. Simulation results for a car-like robot with two trailers are presented.

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Murray, R.0000-0002-5785-7481
Additional Information:© 1992 IEEE. Part of this research was done at the Laboratoire d'Automatique et d'Analyse des Systèmes in Toulouse, France during the summer of 1991. This research was supported in part by NSF grants ECS-87-19298 and IRI 90-14490, and the CNRS. The authors would like to thank Dr. Georges Gira. It for many inspiring discussions.
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NSFIRI 90-14490
Centre National de la Recherche Scientifique (CNRS)UNSPECIFIED
Record Number:CaltechAUTHORS:20190318-145135101
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Official Citation:D. Tilbury, J.P. Laumond, R. Murray, S. Sastry and G. Walsh, "Steering car-like systems with trailers using sinusoids," Proceedings 1992 IEEE International Conference on Robotics and Automation, Nice, France, 1992, pp. 1993-1998 vol.3. doi: 10.1109/ROBOT.1992.219988
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:93940
Deposited By: Tony Diaz
Deposited On:18 Mar 2019 22:53
Last Modified:16 Nov 2021 17:01

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