Title :
Motion planning for a unicycle-like mobile robot, using algebraic attractive curves
Author :
Martinelli, F. ; Possieri, Corrado ; Tornambe, Antonio
Author_Institution :
Dipt. di Ing. Civile e Ing. Inf., Univ. di Roma Tor Vergata, Rome, Italy
Abstract :
The main goal of this paper is to find a control input for a unicycle-like mobile robot, to make it move, within the workspace, tending to a selected algebraic curve. To reach such an objective, an algorithm is used to compute a polynomial vector field, whose associated dynamic system has such a curve as attractive set, and a control input is given, to move the robot along the trajectories of such a system.
Keywords :
algebra; mobile robots; motion control; path planning; polynomials; trajectory control; algebraic attractive curves; control input; motion planning; polynomial vector field; robot trajectory; unicycle-like mobile robot; Heuristic algorithms; Mobile robots; Polynomials; Traffic control; Trajectory; Vectors;
Conference_Titel :
Control and Automation (MED), 2014 22nd Mediterranean Conference of
Conference_Location :
Palermo
Print_ISBN :
978-1-4799-5900-6
DOI :
10.1109/MED.2014.6961561
