Trajectory planning and sliding-mode control based trajectory-tracking for cybercars
Integrated Computer-Aided Engineering - Informatics in Control, Automation and Robotics
Hybrid Control for an Autonomous Wheeled Mobile Robot Under Perturbed Torques
IFSA '07 Proceedings of the 12th international Fuzzy Systems Association world congress on Foundations of Fuzzy Logic and Soft Computing
A framework for planning comfortable and customizable motion of an assistive mobile robot
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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A new motion-generation approach is proposed for wheeled mobile robots described by the unicycle kinematic model. This approach permits the generation of smooth continuous-acceleration controls using a dynamic path-inversion procedure that exploits the concept of G3 -paths, i.e., Cartesian paths with third-order geometric continuity (both the curvature function and its derivative, with respect to the arc length, are continuous). The exposed steering method is well suited to be adopted for the robot's iterative steering within a supervisory control architecture for sensor-based autonomous navigation. A worked example illustrates the approach.