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Trajectory Tracking for 3-Wheeled Independent Drive and Steering Mobile Robot Based on Dynamic Model Predictive Control

Compared to four-wheel independent drive and steering (4WID4WIS) mobile robots, three-wheel independent drive and steering (3WID3WIS) mobile robots are more cost-effective due to their lower cost, lighter weight, and better handling performance, even though their acceleration performance is reduced....

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Autores principales: Chaobin Xu, Xingyu Zhou, Rupeng Chen, Bazhou Li, Wenhao He, Yang Li, Fangping Ye
Formato: Artigo
Lenguaje:Inglês
Publicado: MDPI AG 2025-01-01
Colección:Applied Sciences
Materias:
AGV
3WID3WIS
A* algorithm
trajectory tracking
DMPC
Acceso en línea:https://www.mdpi.com/2076-3417/15/1/485
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