Title :
Vehicle command system and trajectory control for autonomous mobile robots
Author :
Iida, Shigeki ; Yuta, Shinichi
Author_Institution :
Inst. of Inf. Sci. & Electron., Tsukuba Univ., Ibaraki, Japan
Abstract :
A vehicle command system for the wheeled autonomous mobile robot with a high capability in describing the navigation task in the real environment, is proposed. And a feedback control method to track along the given path by the vehicle commands is described. The effectiveness of the proposed vehicle command system and the trajectory control method are confirmed by numerical simulations and experiments in the real environment using a self-contained autonomous mobile robot
Keywords :
feedback; mobile robots; navigation; planning (artificial intelligence); position control; artificial intelligence; autonomous mobile robots; feedback control; navigation; path planning; trajectory control; vehicle command system; Communication system control; Control systems; Feedback; Information science; Mobile robots; Motion detection; Navigation; Remotely operated vehicles; Robot sensing systems; Robotics and automation;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174452
