DocumentCode :
2666958
Title :
Path tracking and trajectory planning for nonholonomic wheeled mobile robots
Author :
Kewei, Xie ; Yan, Zhuang ; Wei, Wang
Author_Institution :
Res. Center of Inf. & Control, Dalian Univ. of Technol., Dalian
fYear :
2008
fDate :
16-18 July 2008
Firstpage :
415
Lastpage :
420
Abstract :
In order to track multiform curves planned for nonholonomic wheeled mobile robots stably, this paper presents an effective trajectory planning scheme and an improved tracking controller using a biological incentive model. The trajectory planning scheme, which includes a curvature estimator based on two adjacent points, combines the results of path planning with the policies of tracking.. The kinetic restrictions method based on biological incentive model is introduced in backstepping technique to improve the control stability. It resolves the velocity jump problem existing in some previous tracking controllers and deals with the situations with large tracking errors. Simulation results demonstrate the effectiveness of tracking capability of the proposed scheme.
Keywords :
mobile robots; motion control; path planning; position control; stability; backstepping technique; biological incentive model; control stability; kinetic restrictions; multiform curves; nonholonomic wheeled mobile robots; path tracking; trajectory planning; Backstepping; Biological control systems; Biological system modeling; Error correction; Kinetic theory; Mobile robots; Path planning; Stability; Trajectory; Velocity control; Kinetic restriction; Nonholonomic wheeled mobile robot; Path tracking; Trajectory planning;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference, 2008. CCC 2008. 27th Chinese
Conference_Location :
Kunming
Print_ISBN :
978-7-900719-70-6
Electronic_ISBN :
978-7-900719-70-6
Type :
conf
DOI :
10.1109/CHICC.2008.4605570
Filename :
4605570
Link To Document :
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