Mobile robot tracking of pre-planned paths

N E Pears

doi:10.1163/156855301750095596

Mobile robot tracking of pre-planned paths

N E Pears

Computer Science

Research output: Contribution to journal › Article › peer-review

Abstract

A method of mobile rebut steering control around pre-planned paths is presented. The system can maneuver accurately at low speeds by deriving control parameters as functions of vehicle velocity. The peak demand on the steering controller is reduced, by distributing steering curvature changes evenly over the extent of a maneuver.

Original language	English
Pages (from-to)	97-107
Number of pages	11
Journal	Advanced Robotics
Volume	15
Issue number	1
DOIs	https://doi.org/10.1163/156855301750095596
Publication status	Published - 2001

Keywords

mobile robots
autonomous vehicles
steering control
path tracking
path following
SLIDING MODE CONTROL
NAVIGATION
GUIDANCE
VEHICLE

Access to Document

10.1163/156855301750095596

http://dx.doi.org/10.1163/156855301750095596

Cite this

@article{62f3136fa4ce4d0d826f1679f17318a6,

title = "Mobile robot tracking of pre-planned paths",

abstract = "A method of mobile rebut steering control around pre-planned paths is presented. The system can maneuver accurately at low speeds by deriving control parameters as functions of vehicle velocity. The peak demand on the steering controller is reduced, by distributing steering curvature changes evenly over the extent of a maneuver.",

keywords = "mobile robots, autonomous vehicles, steering control, path tracking, path following, SLIDING MODE CONTROL, NAVIGATION, GUIDANCE, VEHICLE",

author = "Pears, \{N E\}",

year = "2001",

doi = "10.1163/156855301750095596",

language = "English",

volume = "15",

pages = "97--107",

journal = "Advanced Robotics",

issn = "0169-1864",

publisher = "Taylor and Francis Ltd.",

number = "1",

}

TY - JOUR

T1 - Mobile robot tracking of pre-planned paths

AU - Pears, N E

PY - 2001

Y1 - 2001

N2 - A method of mobile rebut steering control around pre-planned paths is presented. The system can maneuver accurately at low speeds by deriving control parameters as functions of vehicle velocity. The peak demand on the steering controller is reduced, by distributing steering curvature changes evenly over the extent of a maneuver.

AB - A method of mobile rebut steering control around pre-planned paths is presented. The system can maneuver accurately at low speeds by deriving control parameters as functions of vehicle velocity. The peak demand on the steering controller is reduced, by distributing steering curvature changes evenly over the extent of a maneuver.

KW - mobile robots

KW - autonomous vehicles

KW - steering control

KW - path tracking

KW - path following

KW - SLIDING MODE CONTROL

KW - NAVIGATION

KW - GUIDANCE

KW - VEHICLE

U2 - 10.1163/156855301750095596

DO - 10.1163/156855301750095596

M3 - Article

SN - 0169-1864

VL - 15

SP - 97

EP - 107

JO - Advanced Robotics

JF - Advanced Robotics

IS - 1

ER -