Robot Motion Planning
Theory of Robot Control
Kinematic Control System for Car-Like Vehicles
IBERAMIA 2002 Proceedings of the 8th Ibero-American Conference on AI: Advances in Artificial Intelligence
Real-time motion planning of an autonomous mobile manipulator using a fuzzy adaptive Kalman filter
Robotics and Autonomous Systems
A multi-agent architecture with cooperative fuzzy control for a mobile robot
Robotics and Autonomous Systems
Closed loop motion planning of cooperating mobile robots using graph connectivity
Robotics and Autonomous Systems
Omni-directional mobile robot controller based on trajectory linearization
Robotics and Autonomous Systems
Optimal Trajectory Planning for Wheeled Mobile Robots Based on Kinematics Singularity
Journal of Intelligent and Robotic Systems
Robot task planning using semantic maps
Robotics and Autonomous Systems
Velocity planning for a mobile robot to track a moving target - a potential field approach
Robotics and Autonomous Systems
Incremental reconstruction of generalized Voronoi diagrams on grids
Robotics and Autonomous Systems
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This work establishes the reference signal conditions for zero tracking error when controlling wheeled mobile robots under the kinematic framework, that is, when the low-level dynamics is neglected. The reference characterization is based on the classical decoupled robot control and the inverse kinematics of fixed, centered orientable, castor and Swedish wheels. Procedures to avoid tracking error when a particular condition is not satisfied are also indicated. Simulations are shown to illustrate the reference conditions for each type of mobile robot and their implications. Finally, an industrial forklift is considered in a real situation to validate the previous results and to highlight the limits of the kinematic framework assumption.