Ponencia
A generalization of path following for mobile robots
Autor/es | Díaz del Río, Fernando
Jiménez Moreno, Gabriel Sevillano Ramos, José Luis Vicente Díaz, Saturnino Civit Balcells, Antón |
Departamento | Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores |
Fecha de publicación | 1999 |
Fecha de depósito | 2018-02-07 |
Publicado en |
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ISBN/ISSN | 0-7803-5180-0 1050-4729 |
Resumen | Several authors have proposed some methods for applying path following in specific cases to mobile robots. When we try to extend the path following approach to the general problem several difficulties arise. We present a ... Several authors have proposed some methods for applying path following in specific cases to mobile robots. When we try to extend the path following approach to the general problem several difficulties arise. We present a generalized technique to apply path following to a mobile robot with nonholonomic constraints. As an application example, we expose the case of mobile robots with a higher degree of manoeuvrability than the typical car-like robots. In particular we consider a robot that can turn around itself making a zero-radius turn; a case still not resolved as far as we know. Finally we propose a suitable control law for this example that ensures asymptotical convergence. |
Agencias financiadoras | Comisión Interministerial de Ciencia y Tecnología (CICYT). España |
Identificador del proyecto | TER96-2056-C02-01 |
Cita | Díaz del Río, F., Jiménez Moreno, G., Sevillano Ramos, J.L., Vicente Díaz, S. y Civit Balcells, A. (1999). A generalization of path following for mobile robots. En ICRA 1999: IEEE International Conference on Robotics and Automation (7-12), Detroit, MI, USA: IEEE Computer Society. |
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