Please use this identifier to cite or link to this item:
http://hdl.handle.net/10397/1436
| Title: | A fast path planning-and-tracking control for wheeled mobile robots | Authors: | Lee, TH Lam, HK Leung, FHF Tam, PKS |
Issue Date: | 2001 | Source: | 2001 ICRA proceedings : IEEE International Conference on Robotics and Automation : May 21-26, 2001, Seoul, Korea, p. 1736-1741 | Abstract: | This paper presents a fast method to plan the path, and control the position of wheeled mobile robots (WMRs) in a robot soccer game. In a WMR system with position control, when the target position is given, the controller will generate the reference path and then the WMR will move to the target position following the reference path. To tackle the difficulties of the nonlinear control problem, the motion of the WMR is realized via changing the linear displacement and angular displacement in a separate manner such that the WMR is either rotating or moving in a straight line at any one time. This method takes advantage of a proposed fast path-planning algorithm. The complexity of design is thus significantly reduced. | Keywords: | Algorithms Motion planning Nonlinear control systems |
Publisher: | IEEE | ISBN: | 0-7803-6475-9 | Rights: | © 2001 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder. |
| Appears in Collections: | Conference Paper |
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| Planning-and-tracking control_01.pdf | 529.27 kB | Adobe PDF | View/Open |
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