DocumentCode
697197
Title
Receding horizon approach to path following mobile robot in the presence of velocity constraints
Author
Bak, Martin ; Poulsen, Niels Kjolstad ; Ravn, Ole
Author_Institution
Autom., Tech. Univ. of Denmark, Lyngby, Denmark
fYear
2001
fDate
4-7 Sept. 2001
Firstpage
1151
Lastpage
1156
Abstract
This paper focuses on path following algorithms for mobile robots with velocity constraints on the wheels. The path considered consists of straight lines intersected with given angles. We present a fast real-time receding horizon controller which anticipates the intersections and smoothly controls the robot through the turnings while fulfilling the velocity constraints.
Keywords
mobile robots; motion control; path planning; predictive control; real-time systems; mobile robot; motion control; path following algorithms; real-time receding horizon controller; velocity constraints; Angular velocity; Mobile robots; Turning; Vectors; Vehicles; Wheels; Mobile Robots; autonomous vehicles; predictive control; robot applications; robot motion control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 2001 European
Conference_Location
Porto
Print_ISBN
978-3-9524173-6-2
Type
conf
Filename
7076071
Link To Document