Universal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution.

ABSTRACT: This paper presents a nonlinear, universal, path-following controller for Wheeled Mobile Robots (WMRs). This approach, unlike previous algorithms, solves the path-following problem for all common categories of holonomic and nonholonomic WMRs, such as omnidirectional, unicycle, car-like, and all steerable wheels. This generality is the consequence of a two-stage solution that tackles separately the platform path-following and wheels' kinematic constraints. In the first stage, for a mobile platform divested of the wheels' constraints, we develop a general paradigm of a path-following controller that plans asymptotic paths from the WMR to the desired path and, accordingly, we derive a realization of the presented paradigm. The second stage accounts for the kinematic constraints imposed by the

SUBMITTER: Oftadeh R 

PROVIDER: S-EPMC8624698 | biostudies-literature | 2021 Nov

REPOSITORIES: biostudies-literature