Smooth local-path planning for autonomous vehicles
International Journal of Robotics Research
A Smooth Path Tracking Algorithm for Wheeled Mobile Robots with Dynamic Constraints
Journal of Intelligent and Robotic Systems
Omni-directional mobile robot controller based on trajectory linearization
Robotics and Autonomous Systems
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
Adaptive inverse control of an omni-directional mobile robot
ICNC'05 Proceedings of the First international conference on Advances in Natural Computation - Volume Part III
Model-based PI-fuzzy control of four-wheeled omni-directional mobile robots
Robotics and Autonomous Systems
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Near minimum-time direct voltage control (DVC) algorithms synthesizing path-planning and path-following are proposed for wheeled mobile robots (WMRs) satisfying (i) initial and final postures and velocities as well as (ii) voltage and current constraints. To overcome nonholonomic and nonlinear properties of WMRs, we divide our control algorithm for cornering motion into three sections: TSD (Translational Section of Deceleration), RS (Rotational Section), and TSA (Translational Section of Acceleration). We developed off-line DVC algorithms using the quadratic problem with the object function minimizing the total time, where voltages to the motors are controlled directly without velocity/torque-servo modules, while satisfying the current constraints. Two methods of searching for the two control parameters (number of steps for RS MR and velocity constraint in RS &bgr;) were considered: The one is composed of one simple 1-dimensional search for &bgr;, and the other is composed of two 1-dimensional searches for MR and &bgr; which has better performance. Performances of the proposed control algorithms are validated via various simulations.