Title :
Path Planning for Mobile Robots Using Straight Lines
Author :
Zou, An-Min ; Hou, Zeng-Guang ; Tan, Min ; Liu, Derong
Author_Institution :
Lab. of Complex Syst. & Intelligence Sci., Chinese Acad. of Sci., Beijing
Abstract :
The problem of path planning of mobile robots typically consists of two subproblems: path generation and path tracking. In this paper, the path of a mobile robot is generated by a sequence of straight lines, and then the kinematic controller is designed by using coordinate transformation in order to drive the robot to move in the desired path. Stability of the proposed controller is guaranteed by the Lyapunov theory. Simulation results show the efficiency of the proposed method
Keywords :
Lyapunov methods; mobile robots; path planning; robot kinematics; stability; Lyapunov theory; controller stability; coordinate transformation; kinematic controller; mobile robots; path generation; path planning; path tracking; straight lines; Backstepping; Intelligent systems; Laboratories; Mobile robots; Motion control; Neural networks; Path planning; Robot kinematics; Robotics and automation; Tracking;
Conference_Titel :
Networking, Sensing and Control, 2006. ICNSC '06. Proceedings of the 2006 IEEE International Conference on
Conference_Location :
Ft. Lauderdale, FL
Print_ISBN :
1-4244-0065-1
DOI :
10.1109/ICNSC.2006.1673143
