publication . Book . 2015

On Autonomous Articulated Vehicles

Nayl, Thaker;
Open Access English
  • Published: 01 May 2015
  • Publisher: Luleå tekniska universitet
  • Country: Sweden
The objective of this thesis is to address the problems of modeling, path planning and path following for an articulated vehicle in a realistic environment and in the presence of multiple obstacles.<br/>In greater detail, the problem of the kinematic modeling of an articulated vehicle is revisited through the proposal of a proper model in which the dimensions and properties of the vehicle can be fully described, rather than considering it as a unit point. Based on this approach, nonlinear and linear error kinematics models are proposed that are also able to account for the effect of the slip angles, a factor that can cause dramatic deterioration in the overall p...
arXiv: Computer Science::Robotics
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