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326 Autonomous Mobile Robots
0.5
Leading
l=– 1 m
0
l=– 2.5 m
l=– 4 m
l=– 5.5 m
– 0.5
Velocity v (m/sec) – 1.5
– 1
– 2
– 2.5
0 5 10 15 20 25 30 35 40 45 50
Time (sec)
FIGURE 8.21 Vehicle velocity v for different values of l.
20
15
10
Steering angle g (°) – 5
5
0
– 10 Leading
l=– 1 m
l=– 2.5 m
– 15 l=– 4 m
l=– 5.5 m
– 20
0 5 10 15 20 25 30 35 40 45 50
Time (sec)
FIGURE 8.22 Steering angle γ for different values of l.
© 2006 by Taylor & Francis Group, LLC
FRANKL: “dk6033_c008” — 2006/3/31 — 16:43 — page 326 — #32
