A new motion planning approach is proposed for the iterative steering of wheeled mobile robots. Taking into account the nonholonomy of the adopted unicycle model, this approach permits the real-time generation of continuous-acceleration controls within a supervisory control architecture for sensor-based autonomous navigation. The motion planning is actually performed by a dynamic inversion procedure that exploits the new concept of G/sup 3/-paths, i.e. Cartesian paths with third order geometric continuity (both the curvature function and its derivative with respect to the arc length are continuous). A worked example considering an hypothetical docking problem illustrates the approach.


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    Titel :

    Inversion-based control of wheeled mobile robots


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    01.01.2002


    Format / Umfang :

    377534 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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