Dynamic feedback control of vehicles with two steerable wheels

摘要: The kinematic modeling and feedback control of a mobile robot/vehicle with two independently steerable wheels is studied. Two-wheel steer vehicles are highly maneuverable in confined space their orientation can be made independent the position trajectory. However, such vehicle less intuitive difficult. A dynamic algorithm developed, which enables to move from any initial configuration (position orientation) final configuration. It also shown that same cannot achieved by static controller. Simulation results presented verify variables variable.