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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    Title :

    Inversion-based control of wheeled mobile robots


    Contributors:

    Published in:

    Publication date :

    2002-01-01


    Size :

    377534 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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