On the Stability of Taxis for Vehicle Motion Control

• Autores: Iñaki Rañó, Jon Ander Azpiazu Juaristi
• Localización: XII Conferencia de la Asociación Española para la Inteligencia Artificial: (CAEPIA 2007). Actas / coord. por Daniel Borrajo Millán , Luis Castillo Vidal , Juan Manuel Corchado Rodríguez , Vol. 2, 2007, ISBN 978-84-611-8848-2, págs. 31-40
• Idioma: inglés
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• Resumen

  • A well known biologically inspired motion control model for unicycle kinematic robots is presented in this paper. The equations describing the robot motion are derived and the stability in some parts of the configuration space is proved. The mathematical results are validated experimentally through the simulation of a mobile robot on several stimulus.