Path following mobile robot in the presence of velocity constraints

AbstractThis 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.
Keywordsmobile robots, predictive control, robot control, robot applications, autonomous vehicles
TypeTechnical report
PublisherInformatics and Mathematical Modelling, Technical University of Denmark, DTU
AddressRichard Petersens Plads, Building 321, DK-2800 Kgs. Lyngby
Electronic version(s)[pdf]
BibTeX data [bibtex]
IMM Group(s)Mathematical Statistics