Mobile robot tracking of pre-planned paths
作者： N. E. Pears
DOI: 10.1163/156855301750095596
关键词: Control theory 、 Peak demand 、 Control parameters 、 Curvature 、 Computer science 、 Simulation 、 Mobile robot 、 Control theory 、 Tracking (particle physics) 、 Steering control 、 Robot control
摘要: A method of mobile robot steering control around pre-planned paths is presented. The system can maneuver accurately at low speeds by deriving parameters as functions vehicle velocity. peak demand on the controller reduced, distributing curvature changes evenly over extent a maneuver.
core.ac.uk
pudn.com 参考文章(8)
Yi Ma, J. Kosecka, S.S. Sastry, Vision guided navigation for a nonholonomic mobile robot international conference on robotics and automation. ,vol. 15, pp. 521- 536 ,(1999) , 10.1109/70.768184
Takero Hongo, Hideo Arakawa, Gunji Sugimoto, Koichi Tange, Yuzo Yamamoto, An Automatic Guidance System of a Self-Controlled Vehicle IEEE Transactions on Industrial Electronics. ,vol. 34, pp. 5- 10 ,(1987) , 10.1007/978-1-4613-8997-2_3
J. Guldner, V.I. Utkin, Sliding mode control for gradient tracking and robot navigation using artificial potential fields international conference on robotics and automation. ,vol. 11, pp. 247- 254 ,(1995) , 10.1109/70.370505
Ock Hyun Kim, Optimal steering control of an auto-guided-vehicle with two motored wheels Transactions of the Institute of Measurement and Control. ,vol. 9, pp. 58- 63 ,(1987) , 10.1177/014233128700900201
E. Freund, R. Mayr, Nonlinear path control in automated vehicle guidance international conference on robotics and automation. ,vol. 13, pp. 49- 60 ,(1997) , 10.1109/70.554346
O.J. Sordalen, C. Canudas de Wit, Exponential control law for a mobile robot: extension to path following international conference on robotics and automation. ,vol. 9, pp. 837- 842 ,(1992) , 10.1109/70.265927
Jong-Min Yang, Jong-Hwan Kim, Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots international conference on robotics and automation. ,vol. 15, pp. 578- 587 ,(1999) , 10.1109/70.768190
Takero Hongo, Hideo Arakawa, Gunji Sugimoto, Koichi Tange, Yuzo Yamamoto, An Automatic Guidance System of a Self-Controlled Vehicle IEEE Transactions on Industrial Electronics. pp. 5- 10 ,(1987) , 10.1109/TIE.1987.350916