An Automatic Guidance System of a Self-Controlled Vehicle

Optimizing the Turning Velocity in a Line Follower Robot

“…Then the intelligence unit of the robot will be able to calculate the required turning angle by itself and then it will rotate itself at that particular angle [3,4].…”

“…But, in this algorithm, rear wheels will be rotated at continuous rpm (rotation per minute). So, the speed of robot will remain same at all the times [7,8].…”

Mobile robot tracking of pre-planned paths

“…To test the control system in following a cubic B-spline, a demand path was set with spline control points of (1,1), (2,1), (3,6) and (8, …”

“…Earlier examples include an optimal proportional-plus-integral controller for a wire-guidance vehicle [4], a method whereby the accelerations of the left and right drive wheels are controlled such that the vehicle's pose will agree with that of the current command after a given time period [3], and an exponential control law to track a sequence of points [6]. More recently, detailed non-linear models have been included in the control analysis [1] and sliding mode control methods have become popular for both trajectory tracking [7] and in the context of artificial potential fields [2].…”

Collision-free path planning for robots using B-splines and simulated annealing

“…Most of the techniques used to accomplish this are characterized by emphasizing the global geometric en vironment within which the curve must perform, or local intrinsic shape properties of the curve [11,88,152]. Sequences of points connected linearly (or with arcs) are used to construct the desired path [13,14,56,63,68,80,165]. One problem in these methods is that the curvature of the path is usually discontinuous at transition points of segments.…”