This paper describes a path tracking method for power wheeled steering mobile robots (PWS). In the traditional method for moving a mobile robot along a desired path, state variables of a robot (position and orientation) are controlled. But we think that only the position must be controlled in path tracking because orientation comes close to a correct value in the motion along the desired path. We propose a new path tracking method based on this idea and show the performance of this algorithm by simulation and experimental results.


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    Title :

    Path tracking control of mobile robots using a quadratic curve


    Contributors:
    Yoshizawa, K. (author) / Hashimoto, H. (author) / Wada, M. (author) / Mori, S. (author)


    Publication date :

    1996-01-01


    Size :

    419338 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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