Path following mobile robot in the presence of velocity constraints

Martin Bak, Niels Kjølstad Poulsen, Ole Ravn

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    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.
    Original languageEnglish
    Publication statusPublished - 2001

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