In the generation phase, a finite set of parallel paths or trajectories is computed with the
nonholonomic constraints of the vehicle.
Especially, the
nonholonomic constraints of AGV have been taken into consideration.
Adaptive Neural Network PID Sliding Mode Dynamic Control of
Nonholonomic Mobile Robot.
One challenge for tracking control of surface vessel based on above method is that the systems are often underactuated by the sway motion due to weight, complexity, and efficiency considerations and exhibit
nonholonomic constraints, which meets Brocket's theorem that there is no continuous or even smooth time-invariant state feedback law that can stabilize the system to the origin [2].
Mobayen, "Finite-time tracking control of chained-form
nonholonomic systems with external disturbances based on recursive terminal sliding mode method," Nonlinear Dynamics, vol.
Then the equation of
nonholonomic constraints for each wheel, taking into account (11) will be:
The general way to include spinors in spacetime is to use a
nonholonomic tetrad structure and keep the algebra the same in each such defined space.
Iqbal Addressing collision avoidance and
nonholonomic constraints of a wheeled robot: Modeling and simulation" IEEE International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE) pp.
Takeo, "Transportation of a single object by two decentralized-controlled
nonholonomic mobile robots," in Proceedings of the IEEE International Conference on Robotics and Automation, vol.
In a leader/follower formation, the lead robot is controlled through a
nonholonomic system, meaning that the trajectory is set in advance, and the followers are tracing the same pattern that the leader takes by using sonar.
In [7], a control design of a
nonholonomic mobile robot with a differential drive is presented.
Modeling and Control of Formations of
Nonholonomic Mobile Robots.
