Dynamic control of a vehicle with two independent wheels
By: Douglas R. Gerrard
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1997
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 29
Description: The feedback control and modeling of a mobile robot with two wheels that are independently steerable and drivable is studied. Two-wheel steer vehicles increase their maneuverability when both wheels are powered and therefore increases their performance in confined spaces. A dynamic feedback control algorithm is developed, which enables the vehicle to move from any initial configuration (position and orientation) to any final configuration. Simulation results are presented to verify the independent control of the two position variables and the orientation variable. A comparison with a two-wheel steering and one wheel drive vehicle shows that driving both wheels increases performance and maneuverability.
Notes: "September 1997."

Thesis advisor(s): Xiaoping Yun.

Thesis (M.S. in Electrical Egnineering)--Naval Postgraduate School, September 1997.

Includes bibliographical references (p. 27).

Approved for public release; distribution unlimited.

Also available online.

Mode of access: World Wide Web.

System requirements: Adobe Acrobat reader.