Open AccessDOI
A Control Method for Stable and Smooth Path Following of Mobile Robots
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TLDR
In this paper, an extension of the virtual vehicle method proposed by M. Egerstedt et al. is proposed, which is based on the introduction of a look-ahead point on the path that serves as reference point for the control algorithm.Abstract:
This paper addresses the problem of mobile robot navigation in indoor cluttered environments. A new algorithm for both longitudinal and lateral real-time control of wheel-based mobile robots has been proposed. Its main characteristic is smooth and stable following of the on-line replanned path. Our control method is actually extension of the virtual vehicle method proposed by M. Egerstedt et al., which is based on the introduction of a look-ahead point on the path that serves as reference point for the control algorithm. While the original virtual vehicle method uses only error feedback for reference point movement along the path, our method uses also a feedforward component based on path curve characteristics between the robot and the reference point. In this way stable robot movement is achieved also in the presence of obstacles that are critical with respect to the path following error. Experimental verification is provided for a differential drive robot within an on-line global path planning framework.read more
Citations
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Journal ArticleDOI
Nonlinear Model Predictive Control for Path Following Problems
TL;DR: In this article, a general nonlinear model predictive control (NMPC) scheme for path following problems is presented and sufficient conditions for recursive feasibility and asymptotic convergence of the given scheme are presented.
Journal ArticleDOI
Trajectory planning for a car-like robot by environment abstraction
Narcis Ghita,Marius Kloetzer +1 more
TL;DR: This work proposes a fully automatic planning and control strategy for solving a navigation problem for a car-like robot with non-negligible size and constraint control inputs using cell decompositions for abstracting the robot behavior to a final state description on which the planning problem is solved.
Proceedings ArticleDOI
Dribbling Control of Omnidirectional Soccer Robots
TL;DR: A new feedback control algorithm, which steers a reference point to follow the desired movement and keeps the ball near to this point simultaneously, is proposed and a constraint for robot movement in the dribbling process is introduced.
Proceedings ArticleDOI
Reactive control of a mobile robot in a distributed environment using fuzzy logic
TL;DR: This paper describes reactive control of a mobile robot using fuzzy logic in a distributed environment and results of the reactive fuzzy controller in a particular maze problem illustrate the effectiveness of the proposed approach.
Journal ArticleDOI
Path Following for Autonomous Vehicle Navigation Based on Kinodynamic Control
TL;DR: A navigation framework is presented here that combines a path following control scheme to attain a global objective with a collision checking scheme that incrementally builds collision-free trajectories, thus ensuring ego-robot safety at all times, with respect to the partially known static environment obstacles and kinodynamic limitations of the ego- robot itself.