Publication:
Dynamic control of a vehicle with two independent wheels

Loading...
Thumbnail Image
Authors
Gerrard, Douglas R
Subjects
Advisors
Yun, Xiaoping
Date of Issue
1997-09
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
eng
Abstract
The feedback control and modeling of a mobile robot with two wheels that are independently steerable and drivable is studied. Two-wheel steer vehicles increase their maneuverability when both wheels are powered and therefore increases their performance in confined spaces. A dynamic feedback control algorithm is developed, which enables the vehicle to move from any initial configuration (position and orientation) to any final configuration. Simulation results are presented to verify the independent control of the two position variables and the orientation variable. A comparison with a two-wheel steering and one wheel drive vehicle shows that driving both wheels increases performance and maneuverability
Type
Description
Series/Report No
Department
Other Units
Identifiers
NPS Report Number
Sponsors
Funder
Format
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
Collections