Receding horizon approach to path following mobile robot in the presence of velocity constraints

Abstract

This paper focuses on path following algorithms for mobile robots with velocity constraints on the wheels. The path considered consists of straight lines intersected with given angles. We present a fast real-time receding horizon controller which anticipates the intersections and smoothly controls the robot through the turnings while fulfilling the velocity constraints.

Topics

    7 Figures and Tables

    Download Full PDF Version (Non-Commercial Use)