STEERING 3-INPUT NONHOLONOMIC SYSTEMS - THE FIRE TRUCK EXAMPLE

被引：58

作者：

BUSHNELL, LG

TILBURY, DM

SASTRY, SS

机构：

[1] Electronics Research Laboratory, Department of Electrical Engineering and Computer Sciences, University of California at Berkeley, Berkeley

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 1995年 / 14卷 / 04期

关键词：

D O I：

10.1177/027836499501400405

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this article we steer wheeled nonholonomic systems that can be represented in a so-called chained form. Sufficient conditions for converting a multiple-input system with nonholonomic velocity constraints into a multiple-chain, single-generator chained form via state feedback and a coordinate transformation are presented along with sinusoidal and polynomial control algorithms to steer such systems. Our example is the three-input nonholonomic system of a fire truck, or tiller truck. In this three-axle system, the control inputs are the steering velocities of both the first and third (or tiller) axles and the forward driving velocity of the truck. Simulation results are given for parallel parking, left hand turning, right hand turning, and changing lanes. Comparison is made to the same vehicle without tiller steering.

引用

页码：366 / 381

页数：16

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