Title :
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
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;
Conference_Titel :
American Control Conference, 2001. Proceedings of the 2001
Conference_Location :
Arlington, VA
Print_ISBN :
0-7803-6495-3
DOI :
10.1109/ACC.2001.945525
