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http://dx.doi.org/10.7746/jkros.2013.8.4.292

Kinematic Modeling for Autonomous Bicycle Using Differential Motion Transformation  

Yi, Soo-Yeong (Electrical and Information Engineering, Seoul National University of Science and Technology)
Publication Information
The Journal of Korea Robotics Society / v.8, no.4, 2013 , pp. 292-297 More about this Journal
Abstract
This paper presents a new method of kinematic modeling for autonomous bicycle by using the differential motion transformation. Kinematic model is indispensable to trajectory planning and control for an autonomous mobile robot. The conventional methods of kinematic modeling for an autonomous bicycle depend on intuition by geometry. On the contrary, the proposed method in this paper is based on the systematic differential motion transformation, thus applicable to various types of autonomous bicycles. The differential motion transformation gives Jacobian between two coordinate frames and the velocity kinematics as a result.
Keywords
kinematic model; autonomous bicycle; differential motion transformation; Jacobian;
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Times Cited By KSCI : 3  (Citation Analysis)
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