Real-time path tracking for unicycle-like mobile robots under velocity and acceleration constraints

Proceedings of the American Control Conference

Volumn 1, Issue , 2001, Pages 119-124

  Antonelli, G ^a   Chiaverini, S ^a   Fusco, G ^a  

^a UNIVERSITY OF CASSINO AND SOUTHERN LAZIO   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

ACCELERATION CONTROL; ALGORITHMS; DISCRETE TIME CONTROL SYSTEMS; FUZZY SETS; INFERENCE ENGINES; KINEMATICS; MOTION PLANNING; REAL TIME SYSTEMS; TRACKING (POSITION); VELOCITY MEASUREMENT;

ACCELERATION CONSTRAINTS; FUZZY INFERENCE SYSTEMS; REAL TIME PATH TRACKING; UNICYCLE LIKE MOBILE ROBOTS;

MOBILE ROBOTS;

EID: 0034842601     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/acc.2001.945525     Document Type: Conference Paper

References (8)

1. An algorithm for on-line inverse kinematics with path tracking capability under velocity and acceleration constraints
2. Coping with joint velocity limits in first-order inverse kinematics algorithms: Analysis and real-time implementation
3. A new inverse kinematics algorithm with path tracking capability under velocity and acceleration constraints
4. A minimum-time motion planning method based on phase space analysis
5. Developments in nonholonomic control problems
6. Optimal motion planning for a wheeled mobile robot