Path planning and tracking control of wheeled mobile robot considering robot's capacity

Yusuke Ichihara, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

In this paper, a novel path planning and a novel tracking control way of wheeled mobile robot is proposed. Since wheeled mobile robots have nonholonomic constraint, it is impossible to track an arbitrary trajectory at an arbitrary speed. In the conventional ways, the path that the robots can track and that fills the requirement like the collision avoidance etc. is planned. In addition tracking control aims to make the robot follow accurately this path. However, when the robot swerves from the trajectory, it is necessary to plan the trajectory again in such methods. According to the planning way, such a trouble can be raised with the action of the robot because the amount of calculation is huge. Then, this paper aims to track the trajectory, which is assumed not to be able to track because of nonholonomic constraint, in a constant permissible error range. In addition, it is proposed that a novel tracking control method by which the robot can return to the trajectory when the robot swerves from it. Besides, the way to give the commands taking the performance of the actuator into consideration is proposed.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Industrial Technology, ICIT
Pages176-181
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
Duration: 2006 Dec 152006 Dec 17

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Other

Other2006 IEEE International Conference on Industrial Technology, ICIT
CountryIndia
CityMumbai
Period06/12/1506/12/17

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ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Ichihara, Y., & Ohnishi, K. (2006). Path planning and tracking control of wheeled mobile robot considering robot's capacity. In 2006 IEEE International Conference on Industrial Technology, ICIT (pp. 176-181). [4237694] (Proceedings of the IEEE International Conference on Industrial Technology). https://doi.org/10.1109/ICIT.2006.372372