Mobile robot tracking of pre-planned paths

Author: Pears, N.E.

Source: Advanced Robotics, Volume 15, Number 1, 2001 , pp. 97-107(11)

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Abstract:

A method of mobile robot steering control around pre-planned paths is presented. The system can maneuver accurately at low speeds by deriving control parameters as functions of vehicle velocity. The peak demand on the steering controller is reduced, by distributing steering curvature changes evenly over the extent of a maneuver.

Keywords: MOBILE ROBOTS; AUTONOMOUS VEHICLES; STEERING CONTROL; PATH TRACKING; PATH FOLLOWING

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855301750095596

Affiliations: 1: Department of Computer Science, York University, Heslington, York Y010 5DD, UK

Publication date: 2001-03-01