http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
A Nonlinear Path Following Control of an Unmanned Autonomous Industrial Vehicle
Tua Agustinus Tamba(투아 야구스티누스 탐바),Augie Widyotraitmo,T.T.Wuyen Bui,Keum-Shik Hong(홍금식) 제어로봇시스템학회 2008 제어로봇시스템학회 국내학술대회 논문집 Vol.2008 No.10
In this paper, the development of an unmanned autonomous forklift is discussed. A control architecture using vision, laser ranger finder, sonar, etc. for autonomous navigation is presented. The kinematic of spin-turn mechanism is analyzed first, and then the obtained kinematic equations are transformed to the equations represented by path variables. These equations are nonlinear state equations to be used for control purposes. A time varying feedback control law via the chained form of Murray and Sastry is derived. The effectiveness of the proposed control law is examined through simulation.