Steering Kinematics for a Center-Articulated Mobile Robot

Corke, Peter & Ridley, Peter (2001) Steering Kinematics for a Center-Articulated Mobile Robot. IEEE Transactions on Robotics and Automation, pp. 215-218.


This paper discusses the steering kinematics for a center-articulated mobile robot. Several models have been recently proposed in the literature and we use experimental data to compare and validate these models. The vehicle heading response to steering command is shown to include a dominant zero due a nonholonomic constraint, and this is verified by experiments conducted using a 30-t mobile vehicle at our laboratory. Simulation results are then used to show the significance of this zero and its effect on closed-loop heading angle control

Impact and interest:

16 citations in Scopus
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10 citations in Web of Science®

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512 since deposited on 17 Jun 2009
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ID Code: 21740
Item Type: Journal Article
Refereed: Yes
ISSN: 1042-296X
Subjects: Australian and New Zealand Standard Research Classification > ENGINEERING (090000) > ELECTRICAL AND ELECTRONIC ENGINEERING (090600) > Control Systems Robotics and Automation (090602)
Divisions: Past > QUT Faculties & Divisions > Faculty of Built Environment and Engineering
Past > Schools > School of Engineering Systems
Deposited On: 17 Jun 2009 12:57
Last Modified: 01 Sep 2010 02:49

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