Przegląd modeli i algorytmów sterowania nieholonomicznego robota mobilnego

• Autorzy: Majchrzak J.

Warianty tytułu

EN

Overview of models and control algorithms for a nonholonomic mobile robot

• Języki publikacji: PL

Abstrakty

PL

W pracy przedstawiono opis modeli kinematycznych i dynamicznych nieholonomicznych robotów mobilnych oraz omówiono przykład modelowania robota wybranego typu. Przedstawiono właściwości modeli oraz klasyfikację algorytmów sterowania kołowych robotów mobilnych. Scharakteryzowano krótko niektóre metody sterowania i określono ich właściwości.

EN

Description of kinematic and dynamic models of nonholonomic mobile robots has been presented in the paper, followed by the example of modeling of a selected type robot. Properties of the models have been outlined and control algorithms of wheeled mobile robots have been classified. Some control methods and their properties have been briefly characterized.

Słowa kluczowe

PL

nieholonomiczny robot mobilny; model kinematyczny; model dynamiczny; sterowanie

EN

nonholonomic mobile robot; kinematic model; dynamic model; control

• Wydawca: Poznańskie Towarzystwo Przyjaciół Nauk
• Czasopismo: Studia z Automatyki i Informatyki
• Rocznik: 2001
• Tom: T. 26
• Strony: 123--134
• Opis fizyczny: Bibliogr. 32 poz., rys.

Twórcy

autor

Majchrzak J.

• Politechnika Poznańska, Instytut Sterowania i Inżynierii Systemów, ul. Piotrowo 3a, 60-965 Poznań

Bibliografia

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