Mobile robot tracking of pre-planned paths

Pears, Nick

doi:10.1163/156855301750095596

Cited by 15 publications

(4 citation statements)

References 9 publications

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“…Let us consider the relationships between Cartesian coordinates of the parabolic trajectory (22) and the cubic trajectory (25) as instances of our procedure. A similar analysis follows for the complementary trajectories (20) and (28).…”

Section: Desired Trajectories Definitionmentioning

confidence: 99%

“…As aforementioned, when the robot has tracked the corresponding trajectory and t ¼ t, the position reaches the goal (z 1 ¼ 0, z 2 ¼ 0). Since the trajectories are defined such that their slope comply with the constraint for the parabolic trajectory according to the equation of h in (22). It directly follows from (31) that q þ b ¼ q f for the cubic trajectory (25).…”

Section: Desired Trajectories Definitionmentioning

confidence: 99%

“…21 A steering control of mobile robots around preplanned paths with simple linear control laws has been developed to constrain the demand of the steering controller taken into account the curvature of the preplanned paths. 22 An interesting strategy that combines motion planning and control has been proposed for autonomous navigation of WMR to deal with obstacles. 23 Typically, in trajectory planning, the trajectories are generated using cubic polynomials, in particular Bezier curves, but lower grade curves like parabolic trajectories have not been usually considered.…”

Section: Introductionmentioning

confidence: 99%

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Simultaneous convergence of position and orientation of wheeled mobile robots using trajectory planning and robust controllers

Becerra

Colunga

Romero

2018

International Journal of Advanced Robotic Systems

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This article is devoted to the design of robust position-tracking controllers for a perturbed wheeled mobile robot. We address the final objective of pose-regulation in a predefined time, which means that the robot position and orientation must reach desired final values simultaneously in a user-defined time. To do so, we propose the robust tracking of adequate trajectories for position coordinates, enforcing that the robot’s heading evolves tangent to the position trajectory and consequently the robot reaches a desired orientation. The robust tracking is achieved by a proportional–integral action or by a super-twisting sliding mode control. The main contribution of this article is a kinematic control approach for pose-regulation of wheeled mobile robots in which the orientation angle is not directly controlled in the closed-loop, which simplifies the structure of the control system with respect to existing approaches. An offline trajectory planning method based on parabolic and cubic curves is proposed and integrated with robust controllers to achieve good accuracy in the final values of position and orientation. The novelty in the trajectory planning is the generation of a set of candidate trajectories and the selection of one of them that favors the correction of the robot’s final orientation. Realistic simulations and experiments using a real robot show the good performance of the proposed scheme even in the presence of strong disturbances.

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Section: Desired Trajectories Definitionmentioning

confidence: 99%

Section: Desired Trajectories Definitionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Simultaneous convergence of position and orientation of wheeled mobile robots using trajectory planning and robust controllers

Becerra

Colunga

Romero

2018

International Journal of Advanced Robotic Systems

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“…In Fig.l (b ),Robot walks to target after lO steps with Grid method, but it is 3 steps with Quadtree method, in addition, an important theory, i.e. the relation between Size of Block and Viability of the Block is a negative relation, contributes to improvement of the efficiency of Quadtree segmentation [3,8].…”

Section: Amentioning

confidence: 99%

A simple robot paths planning based on Quadtree

Wang

Zhou

Garis

2010

2010 IEEE International Conference on Progress in Informatics and Computing

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Based on traditional methods, according with practical application conditions, and the special structure of Quadtree, this paper gives a practical method of paths planning for the further expansion of Quadtree in the field of paths planning, except for segmentation obstacles. The experimental and simulation results demonstrate that the algorithm described in the text could be able to find all the relevant paths correctly, and make the better choice rapidly.

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