DocumentCode
2803135
Title
Dynamic control of the execution of trajectories by a mobile robot
Author
Wane, Sada ; Schmitt, Alain
Author_Institution
Univ. de Technol. de Compiegne Centre de Recherche de Royalieu, France
fYear
1991
fDate
3-5 Nov 1991
Firstpage
199
Abstract
The objective is to obtain a control model that enables a mobile robot to follow trajectories that have been defined by path planning. The authors have imposed that the determined path be smoothed during the execution in order to minimize the consumption of energy. At first, they have developed an algorithm of control in an open loop using proprioceptive information. They then consider exteroceptive information in order to carry out an algorithm in a closed loop that allows one to control the motion of the robot on the path that it should follow
Keywords
closed loop systems; control system analysis; mobile robots; navigation; position control; dynamic control; mobile robot; navigation; path planning; position control; trajectory control; Automatic control; Control systems; Kinematics; Mobile robots; Motion control; Navigation; Open loop systems; Path planning; Robot control; Robotics and automation;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location
Osaka
Print_ISBN
0-7803-0067-X
Type
conf
DOI
10.1109/IROS.1991.174449
Filename
174449
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