{"id":568,"date":"2012-08-09T15:31:00","date_gmt":"2012-08-09T14:31:00","guid":{"rendered":"https:\/\/ramyrashad.com\/?p=568"},"modified":"2023-08-27T20:30:37","modified_gmt":"2023-08-27T19:30:37","slug":"dynamic-trajectory-tracking-of-a-car-like-robot","status":"publish","type":"post","link":"https:\/\/ramyrashad.com\/index.php\/2012\/08\/09\/dynamic-trajectory-tracking-of-a-car-like-robot\/","title":{"rendered":"Dynamic trajectory tracking of a car-like robot"},"content":{"rendered":"\n<p><strong>Research Overview<\/strong><\/p>\n\n\n\n<p>This video summarizes my BSc thesis work done at the Julius Maximilians University Weurzburg, Germany as part of my BSc degree in Mechatronics at the German University in Cairo. The work focuses on the trajectory tracking problem for a car-like robot. Tracking a trajectory is one of the basic motion control tasks for any wheeled mobile robot. Two different approaches are presented and analyzed to control the kinematic model of a car-like robot in order to track an obstacle-free arbitrary trajectory. The first approach is tracking the trajectory by stabilizing the error dynamics using phase plane analysis. The second approach uses dynamic feedback linearization to solve the problem. Both designed controllers are implemented on a real car-like robot.<\/p>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-layout-1 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/Scen_path.jpg\" alt=\"\" class=\"wp-image-569\" width=\"327\" height=\"324\" srcset=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/Scen_path.jpg 733w, https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/Scen_path-300x298.jpg 300w, https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/Scen_path-150x150.jpg 150w\" sizes=\"(max-width: 327px) 100vw, 327px\" \/><\/figure><\/div><\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/Scen_snapshot_5.jpg\" alt=\"\" class=\"wp-image-570\" width=\"407\" height=\"312\" srcset=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/Scen_snapshot_5.jpg 672w, https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/Scen_snapshot_5-300x231.jpg 300w\" sizes=\"(max-width: 407px) 100vw, 407px\" \/><\/figure><\/div><\/div>\n<\/div>\n\n\n\n<div class=\"wp-block-columns is-layout-flex wp-container-core-columns-layout-2 wp-block-columns-is-layout-flex\">\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"881\" height=\"578\" src=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/Scen_snapshot_5-1.jpg\" alt=\"\" class=\"wp-image-571\" srcset=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/Scen_snapshot_5-1.jpg 881w, https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/Scen_snapshot_5-1-300x197.jpg 300w, https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/Scen_snapshot_5-1-768x504.jpg 768w\" sizes=\"(max-width: 881px) 100vw, 881px\" \/><\/figure><\/div><\/div>\n\n\n\n<div class=\"wp-block-column is-layout-flow wp-block-column-is-layout-flow\"><div class=\"wp-block-image\">\n<figure class=\"aligncenter size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/Scen_path-1.jpg\" alt=\"\" class=\"wp-image-572\" width=\"272\" height=\"272\" srcset=\"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/Scen_path-1.jpg 987w, https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/Scen_path-1-300x300.jpg 300w, https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/Scen_path-1-150x150.jpg 150w, https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/Scen_path-1-768x769.jpg 768w\" sizes=\"(max-width: 272px) 100vw, 272px\" \/><\/figure><\/div><\/div>\n<\/div>\n\n\n\n<p><strong>Publication<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-table\"><table><tbody><tr><td>Dynamic trajectory tracking of a car-like robot, German University in Cairo, Egypt &amp; Julius-Maximilians \u2013 University Weurzburg, Germany (2012).&nbsp;<a href=\"https:\/\/www.researchgate.net\/profile\/Ramy-Rashad-2\/publication\/328928543_Dynamic_trajectory_tracking_of_a_car-like_robot\/links\/5bebedba299bf1124fd12772\/Dynamic-trajectory-tracking-of-a-car-like-robot.pdf\">pdf:[URL]<\/a><\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-4-3 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"BSc thesis: Dynamic trajectory tracking of a car-like robot\" width=\"790\" height=\"593\" src=\"https:\/\/www.youtube.com\/embed\/JDa67xQovLo?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n","protected":false},"excerpt":{"rendered":"<p>Research Overview This video summarizes my BSc thesis work done at the Julius Maximilians University Weurzburg, Germany as part of my BSc degree in Mechatronics at the German [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":573,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"om_disable_all_campaigns":false,"ub_ctt_via":"","_mi_skip_tracking":false,"footnotes":""},"categories":[14],"tags":[],"aioseo_notices":[],"featured_image_src":"https:\/\/ramyrashad.com\/wp-content\/uploads\/2023\/08\/Scen_snapshot_5-2.jpg","author_info":{"display_name":"Ramy","author_link":"https:\/\/ramyrashad.com\/index.php\/author\/ramy-abdelmonemgmail-com\/"},"_links":{"self":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/posts\/568"}],"collection":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/comments?post=568"}],"version-history":[{"count":3,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/posts\/568\/revisions"}],"predecessor-version":[{"id":584,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/posts\/568\/revisions\/584"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/media\/573"}],"wp:attachment":[{"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/media?parent=568"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/categories?post=568"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/ramyrashad.com\/index.php\/wp-json\/wp\/v2\/tags?post=568"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}