Sensor-referenced motion planning and dynamic control for mobile robots

A new design method for nontime based tracking controller is presented. The key to the nontime based control method is the introduction of a suitable action or motion reference variable other than time, which is directly related to the desired and measurable system output. It enables the construction of control systems with integrated planning capability, in which planning becomes real-time closed-loop process. The new design method converts a controller designed by traditional time-based approach to a nontime based controller using action reference. It significantly simplifies the design procedure. The design method is exemplified by a unmanned vehicle tracking control problem. The design procedure and simulation results demonstrate the advantages of proposed method.