Path following mobile robot in the presence of velocity constraints

Martin Bak; Niels Kjølstad Poulsen; Ole Ravn

Path following mobile robot in the presence of velocity constraints

Martin Bak
, Niels Kjølstad Poulsen
, Ole Ravn

Research output: Book/Report › Report › Research

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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 language	English

Publication status	Published - 2001

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title = "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 = "predictive control, robot applications, robot control, mobile robots, autonomous vehicles",

author = "Martin Bak and Poulsen, \{Niels Kj{\o}lstad\} and Ole Ravn",

year = "2001",

language = "English",

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TY - RPRT

T1 - Path following mobile robot in the presence of velocity constraints

AU - Bak, Martin

AU - Poulsen, Niels Kjølstad

AU - Ravn, Ole

PY - 2001

Y1 - 2001

N2 - 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.

AB - 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.

KW - predictive control

KW - robot applications

KW - robot control

KW - mobile robots

KW - autonomous vehicles

M3 - Report

BT - Path following mobile robot in the presence of velocity constraints

ER -

Path following mobile robot in the presence of velocity constraints

Abstract

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