Title :
Receding horizon approach to path following mobile robot in the presence of velocity constraints
Author :
Bak, Martin ; Poulsen, Niels Kjolstad ; Ravn, Ole
Author_Institution :
Autom., Tech. Univ. of Denmark, Lyngby, Denmark
Abstract :
This paper focuses on path following algorithms for mobile robots with velocity constraints on the wheels. The path considered consists of straight lines intersected with given angles. We present a fast real-time receding horizon controller which anticipates the intersections and smoothly controls the robot through the turnings while fulfilling the velocity constraints.
Keywords :
mobile robots; motion control; path planning; predictive control; real-time systems; mobile robot; motion control; path following algorithms; real-time receding horizon controller; velocity constraints; Angular velocity; Mobile robots; Turning; Vectors; Vehicles; Wheels; Mobile Robots; autonomous vehicles; predictive control; robot applications; robot motion control;
Conference_Titel :
Control Conference (ECC), 2001 European
Conference_Location :
Porto
Print_ISBN :
978-3-9524173-6-2
