Title :
Predictive path tracking of mobile robots. Application to the CMU NavLab
Author :
Ollero, A. ; Amidi, O.
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
Presents a new path tracking method and its application to an autonomous vehicle, the NavLab (road-worthy truck modified for research in outdoor navigation). The method applies predictive control theory to obtain the appropriated steering angle taking into account the vehicle velocity. The authors consider both the single-input single output case and the multivariable formulation of the predictive control problem. Moreover they describe the implementation of the NavLab controller.<>
Keywords :
mobile robots; navigation; path planning; predictive control; CMU; NavLab; SISO systems; autonomous vehicle; mobile robots; multivariable formulation; navigation; path planning; predictive control; predictive path tracking; steering; Costs; Error correction; Humans; Machine vision; Mobile robots; Predictive control; Remotely operated vehicles; Road vehicles; Robot vision systems; Sensor systems;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240412
