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ROBOCUP
2001
Springer

On the Motion Control of a Nonholonomic Soccer Playing Robot

11 years 4 months ago
On the Motion Control of a Nonholonomic Soccer Playing Robot
A nonlinear control law to steer the unicycle model to a static or dynamic target pose is presented. If the target is static the control signals are smooth in their arguments and the solution guarantees exponential convergence of the distance and orientation errors to zero. The major advantages of the proposed approach are that there is no need for path planning and, in principle, there is no need for global selflocalization either.
Giovanni Indiveri
Added 30 Jul 2010
Updated 30 Jul 2010
Type Conference
Year 2001
Where ROBOCUP
Authors Giovanni Indiveri
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