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322 Autonomous Mobile Robots

30
p=– 0.5
p=– 1
25
p=– 2
p=– 3
Tracking error (cm) 15
20

10

5

0
0 5 10 15 20 25 30 35 40 45 50
Time (sec)
FIGURE 8.14 Tracking errors ˜z for different values of p.

0.8

0.6
0.4
Acceleration (m/sec 2 ) – 0.2 0
0.2

p=– 0.5
– 0.4 Leading
p=– 1
– 0.6 p=– 2
p=– 3
– 0.8
0 5 10 15 20 25 30 35 40 45 50
Time (sec)

FIGURE 8.15 Vehicle acceleration ˙v for different values of p.

© 2006 by Taylor & Francis Group, LLC

FRANKL: “dk6033_c008” — 2006/3/31 — 16:43 — page 322 — #28