What is it about?
Autonomous path following in mobile robots with nonholonomic constraints can be divided into two problems; first, selecting the tracking point, and then designing an appropriate controller to follow the selected point. When selecting tracking point, considering the kinematics of the robot as well as characteristics of the desired path is of considerable importance.
Featured Image
Why is it important?
Path following is an important subject in the field of autonomous car-like robots. In path following problems, the goals are to minimize the distance between the robot and the desired path, minimize the difference between the robot's heading angle and path direction and limit the magnitude of steering angle changes in order to improve stability and smooth out robot motion.
Perspectives
The tracker algorithm must be designed such that, firstly, there must be the possibility of being tangent to the path at the selected tracking point for the robot. Moreover, the designed controller must follow the selected point properly, as well as become tangent to the path at the selected tracking point with smooth motion.
Mohammad Reza Homaeinezhad
K. N. Toosi University of Technology
Read the Original
This page is a summary of: Autonomous path following by fuzzy adaptive curvature-based point selection algorithm for four-wheel-steering car-like mobile robot, Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science, July 2017, SAGE Publications,
DOI: 10.1177/0954406217723363.
You can read the full text:
Contributors
The following have contributed to this page
