Auto guided vehicle control using expanded time B-splines

This paper deals with the control problem of an auto guided vehicle (AGV) from a given trajectory. This trajectory is obtained from its B-spline representation profiting the implicit information contained in the B-spline formulation. For this, we manipulate the discrete trajectory information to construct a second-derivative continuous and smoothed path, which will be included in the control law together with the kinematics of the vehicle. In this paper we propose a new reformulation of B-splines in an expanded time domain instead of the parametric classical representation to get the desired approximation. The purpose of this new representation is to include the path inside the control law regardless the kind of controller used. To easily illustrate the utility of the proposed approach we use a simple proportional controller