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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.
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