Port-Hamiltonian modelling of a car-like robot
Authors
Daniel Herrera, Javier Gimenez, Ricardo Carelli
Abstract
This paper proposes a dynamical modelling of a car-like robot based on the port-Hamiltonian approach. It consists in projecting the dynamics of a free body into the possible velocity space determined by the non-holonomic constraints of the vehicle. For this approach, it is considered a simplified bicycle-like representation of the Ackermann mechanism with rear traction and steering control on the front wheel. Simulations are given to illustrate the effectiveness of the approach.
Citation
- Journal: 2015 XVI Workshop on Information Processing and Control (RPIC)
- Year: 2015
- Volume:
- Issue:
- Pages: 1–6
- Publisher: IEEE
- DOI: 10.1109/rpic.2015.7497067
BibTeX
@inproceedings{Herrera_2015,
title={{Port-Hamiltonian modelling of a car-like robot}},
DOI={10.1109/rpic.2015.7497067},
booktitle={{2015 XVI Workshop on Information Processing and Control (RPIC)}},
publisher={IEEE},
author={Herrera, Daniel and Gimenez, Javier and Carelli, Ricardo},
year={2015},
pages={1--6}
}