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 G3-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.
Inversion-based control of wheeled mobile robots / GUARINO LO BIANCO, Corrado; Piazzi, Aurelio. - (2003), pp. 190-195. (Intervento presentato al convegno IEEE Intelligent Vehicle Symposium 2002, IV2002 nel June 18-20) [10.1109/IVS.2002.1187950].
Inversion-based control of wheeled mobile robots
GUARINO LO BIANCO, Corrado;PIAZZI, Aurelio
2003-01-01
Abstract
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 G3-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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
