Real-time path tracking for unicycle-like mobile robots under velocity and acceleration constraints

Author

Antonelli, Gianluca ; Chiaverini, Stefano ; Fusco, Giuseppe

Author_Institution

Dipt. di Autom., Elettromagnetismo, Ingegneria dell´´Inf. e Matematica Ind., Cassino Univ., Italy

Volume

1

fYear

2001

fDate

2001

Firstpage

119

Abstract

A motion planning algorithm for unicycle-like mobile robots is presented. A desired trajectory is available in real-time to be followed by a nonholonomic mobile robot with bounds on the linear/angular velocities and accelerations. Moreover, in the respect of the kinematic constraints, the desired path has to be kept. The proposed algorithm is based on a discrete time kinematic control based on the definition of a virtual time. A fuzzy inference system is in charge of handling the additional information given by the difference between virtual and real time

Keywords

fuzzy control; inference mechanisms; mobile robots; path planning; real-time systems; robot kinematics; tracking; discrete time system; fuzzy inference; kinematic constraints; mobile robots; motion planning; nonholonomic systems; path tracking; real-time systems; Acceleration; Angular velocity; Inference algorithms; Kinematics; Mobile robots; Motion control; Motion planning; Path planning; Real time systems; Vehicle dynamics;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2001. Proceedings of the 2001

Conference_Location

Arlington, VA

ISSN

0743-1619

Print_ISBN

0-7803-6495-3

Type

conf

DOI

10.1109/ACC.2001.945525

Filename

945525