IMPROVE PATH FOLLOWING EFFICIENCY FOR 4WD4WS ROBOT BY USING EXPONENTIAL FUNCTIONS IN VIRTUAL TARGET GUIDANCE ALGORITHM=IMPROVE PATH FOLLOWING EFFICIENCY FOR 4WD4WS ROBOT BY USING EXPONENTIAL FUNCTIONS IN VIRTUAL TARGET GUIDANCE ALGORITHM

• Tác giả: Huy Quoc Vu, Nam Dang Kien, Nguyen Vu
• Ngôn ngữ: eng
• Thông tin xuất bản: Tạp chí Khoa học & Công nghệ - Trường Đại học Công nghiệp Hà Nội, 2024
• Mô tả vật lý: tr.231
• Bộ sưu tập: Metadata
• ID: 479050

Tóm tắt

Most of the path following research for 4WD4WS mobile robots is conducted with two control loops, the kinematic loop and the dynamic loop. This article proposes a method using exponential functions in virtual target guidance algorithm to decrease the convergence time in the kinematic control loop. The process of synthesizing the control law is strictly mathematically guaranteed. Simulations in Matlab visually represent the research results.