Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/1436
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dc.contributorDepartment of Electronic and Information Engineering-
dc.creatorLee, TH-
dc.creatorLam, HK-
dc.creatorLeung, FHF-
dc.creatorTam, PKS-
dc.date.accessioned2014-12-11T08:26:24Z-
dc.date.available2014-12-11T08:26:24Z-
dc.identifier.isbn0-7803-6475-9-
dc.identifier.urihttp://hdl.handle.net/10397/1436-
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.rights© 2001 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.en_US
dc.rightsThis material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.en_US
dc.subjectAlgorithmsen_US
dc.subjectMotion planningen_US
dc.subjectNonlinear control systemsen_US
dc.titleA fast path planning-and-tracking control for wheeled mobile robotsen_US
dc.typeConference Paperen_US
dc.description.otherinformationAuthor name used in this publication: T. H. Leeen_US
dc.description.otherinformationAuthor name used in this publication: F. H. F. Leungen_US
dc.description.otherinformationAuthor name used in this publication: P. K. S. Tamen_US
dc.description.otherinformationRefereed conference paperen_US
dcterms.abstractThis paper presents a fast method to plan the path, and control the position of wheeled mobile robots (WMRs) in a robot soccer game. In a WMR system with position control, when the target position is given, the controller will generate the reference path and then the WMR will move to the target position following the reference path. To tackle the difficulties of the nonlinear control problem, the motion of the WMR is realized via changing the linear displacement and angular displacement in a separate manner such that the WMR is either rotating or moving in a straight line at any one time. This method takes advantage of a proposed fast path-planning algorithm. The complexity of design is thus significantly reduced.-
dcterms.accessRightsopen accessen_US
dcterms.bibliographicCitation2001 ICRA proceedings : IEEE International Conference on Robotics and Automation : May 21-26, 2001, Seoul, Korea, p. 1736-1741-
dcterms.issued2001-
dc.identifier.isiWOS:000172615800278-
dc.identifier.scopus2-s2.0-0034877219-
dc.identifier.rosgroupidr00799-
dc.description.ros2000-2001 > Academic research: refereed > Refereed conference paper-
dc.description.oaVersion of Recorden_US
dc.identifier.FolderNumberOA_IR/PIRAen_US
dc.description.pubStatusPublisheden_US
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