An Integrated Approach for Intelligent Path Planning and Control of Mobile Robot in Structured Environment

Katić, Duško; Cosic, Aleksandar; Susic, Marko; Graovac, Stevica

doi:10.1007/978-3-319-01592-7_12

Cited by 3 publications

(2 citation statements)

References 9 publications

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“…[2] computes the longitudinal velocity by solving an optimization problem that incorporates kinematic constraints, and then uses it as an input to the kinematic controller of. 9 In the third objective (III), the configuration error defined by 9,10,[18][19][20] is stated as the difference between the configuration of the real platform with the configuration of a virtual platform that follows a trajectory at prescribed times with respect to a velocity profile (cf. 21 for an example of velocity planning according to kinematic constraints).…”

Section: Comparison With Previous Workmentioning

confidence: 99%

Waypoints guidance of differential-drive mobile robots with kinematic and precision constraints

Boucher

2014

Robotica

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SUMMARYThis paper proposes a new kinematic controller for the waypoints guidance of robotic mobile platforms. A notable feature of the controller is its ability to process the raw sequence of waypoints to produce smooth reference velocities from control laws that are derived by taking into account adriving profileincluding the velocity limits, the acceleration limits, the motion modes through each waypoint (forward or backward) and the precision constraints that are required to ensure accurate waypoints traversal. A mathematical analysis demonstrates the convergence of the movements through the waypoints sequence. In addition, we present a simple way to adapt the driving profile in order that the platform reaches the last waypoint at a prescribed time. A feed-forward unit is finally described, that compensates for delays and first-order poles in the velocity response of the platform. Various simulations and experiments on real robotic platforms demonstrate the behavior and the effectiveness of the solution.

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Section: Comparison With Previous Workmentioning

confidence: 99%

Waypoints guidance of differential-drive mobile robots with kinematic and precision constraints

Boucher

2014

Robotica

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“…In general path planning and obstacle avoidance algorithms, coupled with control schemes, are one of the major areas of focus in the field of autonomous vehicles [1].…”

Section: Introductionmentioning

confidence: 99%

Effect of kinematic parameters on MPC based on-line motion planning for an articulated vehicle

Nayl

Nikolakopoulos

Gustafsson

2015

Robotics and Autonomous Systems

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The aim of this article is to analyze the effect of kinematic parameters on a novel proposed on-line motion planning algorithm for an articulated vehicle based on Model Predictive Control. The kinematic parameters that are going to be investigated are the vehicle's velocity, the maximum allowable change in the articulated steering angle, the safety distance from the obstacles and the total number of obstacles in the operating arena. The proposed modified path planning algorithm for the articulated vehicle belongs to the family of Bug-Like algorithms and is able to take under consideration, the mechanical and physical constraints of the articulated vehicle, as well as its full kinematic model. During the on-line motion planning algorithm, the MPC controller controls the lateral motion of the vehicle, through the rate of the articulation angle, while driving it accurately and safely over the on-line formulated desired path. The efficiency of the proposed combined path planning and control scheme is being evaluated under numerous simulated test cases, while exhaustive simulations have been made for analyzing the dependency of the proposed framework on the kinematic parameters.

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Petri Net Model and Its Optimization for the Problem of Robot Rescue Path Planning

Geng

Gong

Zhang

2017

Intelligent Computing Theories and Application

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An Integrated Approach for Intelligent Path Planning and Control of Mobile Robot in Structured Environment

Cited by 3 publications

References 9 publications

Waypoints guidance of differential-drive mobile robots with kinematic and precision constraints

Waypoints guidance of differential-drive mobile robots with kinematic and precision constraints

Effect of kinematic parameters on MPC based on-line motion planning for an articulated vehicle

Petri Net Model and Its Optimization for the Problem of Robot Rescue Path Planning

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