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

Yusuke Ichihara, Kouhei Ohnishi

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2006 IEEE International Conference on Industrial Technology, ICIT
ページ176-181
ページ数6
DOI
出版ステータスPublished - 2006 12 1
イベント2006 IEEE International Conference on Industrial Technology, ICIT - Mumbai, India
継続期間: 2006 12 152006 12 17

出版物シリーズ

名前Proceedings of the IEEE International Conference on Industrial Technology

Other

Other2006 IEEE International Conference on Industrial Technology, ICIT
国/地域India
CityMumbai
Period06/12/1506/12/17

ASJC Scopus subject areas

  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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