DocumentCode
3337915
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
fYear
1991
fDate
19-22 June 1991
Firstpage
1081
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ICAR.1991.240412
Filename
240412
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