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Control of a nonholonomic mobile robot

Klimaczyńska A.

International Journal of Applied Mechanics and Engineering

2009

Vol. 14, no. 2

359-370

The paper presents a solution to the control problem of a nonholonomic mobile robot. The task of the robot's motion has been divided into two subtasks: reaching the target position and reaching the target orientation. The controls obtained are continuous, and the time for reaching the final configuration is finite. The results are illustrated with a number of simulations.