Path following mobile robot in the presence of velocity constraints |
| | Abstract | This paper focuses on path following algorithms for mobile robots with velocity constraints on the wheels. The path considered consists of straight lines intersected with given angles. We present a fast real-time receding horizon controller which anticipates the intersections and smoothly controls the robot through the turnings while fulfilling the velocity constraints. | | Keywords | mobile robots, predictive control, robot control, robot applications, autonomous vehicles | | Type | Technical report | | Year | 2001 | | Publisher | Informatics and Mathematical Modelling, Technical University of Denmark, DTU | | Address | Richard Petersens Plads, Building 321, DK-2800 Kgs. Lyngby | | Series | IMM-TR-2001-7 | | Electronic version(s) | [pdf] | | BibTeX data | [bibtex] | | IMM Group(s) | Mathematical Statistics |
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