6_AkilliSP_VehicleKinematicDinamicModel - Course 6:...

Info iconThis preview shows pages 1–5. Sign up to view the full content.

View Full Document Right Arrow Icon
1 Course 6: NONHOLONOMIC CAR-LIKE ROBOT What is non-holonomic and holonomic? ± what is holonomic and nonholonomic system?. ± In general, a nonholonomic mechanical system cannot move in arbitrary directions in its configuration space, but holonomic systems can move.
Background image of page 1

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
2 Sample Car Type X and Y are the Cartesian Coordinates. L is the length between two axles. θ measures the orientation of the car body with respect to the x axis. Ø is the steering angle. ± V1 is the driving velocity ± V2 is the steering velocity
Background image of page 2
3 Simulations Of The Model Initial Coordinates: 0,0 Initial angle of the car ( θ ): 0° L: 0.5 Steering Angle (Ø): 18° Driving velocity of the car (V1): 1 Steering velocity of the car(V2): 0.1 Works for 2 seconds. Initial Coordinates: 0,0 Initial angle of the car ( θ ): 0° L: 0.5 Steering Angle (Ø): 18° Driving velocity of the car (V1): 1 Steering velocity of the car(V2): 0.3 Works for 2 seconds.
Background image of page 3

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
4 COMPARISON WRT STEERING VELOCITY AS SEEN IN THE FIGURE, IF WE INCREASE THE STEERING VELOCITY,
Background image of page 4
Image of page 5
This is the end of the preview. Sign up to access the rest of the document.

This note was uploaded on 11/24/2009 for the course ELECTRICAL 1512200540 taught by Professor Ahmetyazıcı during the Fall '09 term at Eskişehir Osmangazi Üniversitesi.

Page1 / 10

6_AkilliSP_VehicleKinematicDinamicModel - Course 6:...

This preview shows document pages 1 - 5. Sign up to view the full document.

View Full Document Right Arrow Icon
Ask a homework question - tutors are online