Name
Title | ||
|---|---|---|
A time-optimal bounded velocity path-following controller for generic Wheeled Mobile Robots |
Abstract | ||
|---|---|---|
This paper, as a generalization of our previous works, presents a unified time-optimal path-following controller for Wheeled Mobile Robots (WMRs). Unlike other path-following controllers, we solve the path-following problem for all common categories of WMRs such as car-like, differential, omnidirectional, all wheels steerable and others. We show that the insertion of our path-following controller into the kinematic and non-holonomic constraints of the wheels, simplifies the otherwise impenetrable constraints, resulting in explicit monotonic functions between the velocity of the base and that of the wheels. Based on this foundation, we present a closed-form solution that keeps all the wheels' steering and driving velocities within their corresponding pre-specified bounds. Simulation data and experimental results from executing the controller in a real-time environment demonstrate the efficacy of the method. |
Year | DOI | Venue |
|---|---|---|
2015 | 10.1109/ICRA.2015.7139252 | IEEE International Conference on Robotics and Automation |
Keywords | Field | DocType |
mobile robots,optimal control,path planning,WMR,generic wheeled mobile robots,kinematic constraints,monotonic functions,non holonomic constraints,real-time environment,time optimal bounded velocity path following controller,unified time optimal path following controller | Omnidirectional antenna,Monotonic function,Control theory,Kinematics,Control theory,Path following,Control engineering,Mobile robot,Mathematics,Bounded function,Actuator | Conference |
Volume | Issue | ISSN |
2015 | 1 | 1050-4729 |
Citations | PageRank | References |
4 | 0.48 | 10 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Reza Oftadeh | 1 | 19 | 4.80 |
| Reza Ghabcheloo | 2 | 72 | 11.82 |
| Jouni Mattila | 3 | 69 | 20.68 |