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A generalization of path following for mobile robots

 

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Author: Díaz del Río, Fernando
Jiménez Moreno, Gabriel
Sevillano Ramos, José Luis
Vicente Díaz, Saturnino
Civit-Balcells, Antón
Department: Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores
Date: 1999
Published in: ICRA 1999: IEEE International Conference on Robotics and Automation (1999), p 7-12
ISBN/ISSN: 0-7803-5180-0
1050-4729
Document type: Presentation
Abstract: 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.
Cite: 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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Format: PDF

URI: https://hdl.handle.net/11441/70073

DOI: 10.1109/ROBOT.1999.769906

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