An Improved Path-Generating Regulator for Two-Wheeled Robots to Track the Circle/Arc Passage

<table class="table-group" id="tab5"><tr><td><table class="table"><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr class="thead"><td align="left">No.</td><td align="center">Method</td><td align="center"><span style="width: 9.5124998px;"><svg height="12.4375" id="M247" style="vertical-align:-0.20064pt" version="1.1" viewbox="0 0 9.5124998 12.4375" width="9.5124998" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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<g transform="matrix(.012,-0,0,-.012,9.5,16.25)"><path d="M324 430l-26 -36l-112 -4l-55 -265q-13 -66 7 -66q13 0 44.5 20t50.5 40l17 -24q-38 -40 -85.5 -73.5t-87.5 -33.5q-50 0 -21 138l55 262h-80l-2 8l25 34h66l25 99l78 63l10 -9l-37 -153h128z" id="x1D461"></path></g>
</svg></span></td><td align="center"><i>t </i></td><td align="center">Color</td></tr><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr><td align="left">(A)</td><td align="center">The PGR </td><td align="center">0.35</td><td align="center">0.1 s</td><td align="center">50 s</td><td align="center">blue</td></tr><tr><td align="left">(B)</td><td align="center">The improved PGR</td><td align="center">0.35</td><td align="center">0.1 s</td><td align="center">50 s</td><td align="center">green</td></tr><tr class="table-tr"><td colspan="6"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Default parameter values for numerical simulations.

Mathematical Problems in Engineering

tab5

Table 5

Table 5: An Improved Path-Generating Regulator for Two-Wheeled Robots to Track the Circle/Arc Passage 