Accurate parking of nonholonomic robots

• Main Author: Goh, Chang Zuo
• Other Authors: Teoh Eam Khwang
• Format: Final Year Project
• Language: English
• Published: 2018
• Subjects: DRNTU::Engineering
• Online Access: http://hdl.handle.net/10356/74692
• Institution: Nanyang Technological University

Due to nonholonomic constraints as well as constraints on torque and power resources, it is challenging to develop an auto-parking system for nonholonomic robots to asymptotically stabilize the robots at their goal pose. Many existing controllers escape from the singularity set which is believed to...