Adaptive Dynamic Path Following Control of an Unicycle-Like Mobile Robot

2011 ◽  
pp. 563-574 ◽  
Author(s):  
Victor H. Andaluz ◽  
Flavio Roberti ◽  
Juan Marcos Toibero ◽  
Ricardo Carelli ◽  
Bernardo Wagner
Keyword(s):  
Mobile Robot ◽  
Path Following ◽  
Adaptive Dynamic ◽  
Path Following Control ◽  
Dynamic Path

A Human-Inspired Method for Point-to-Point and Path-Following Navigation of Mobile Robots

2015 ◽  
Vol 7 (4) ◽  
Author(s):  
F. Heidari ◽  
R. Fotouhi
Keyword(s):  
Mobile Robot ◽  
Real Time ◽  
Path Following ◽  
Obstacle Detection ◽  
Wheeled Mobile Robot ◽  
Sensor Data ◽  
Integrated Navigation ◽  
Fully Integrated ◽  
Point Motion ◽  
Point To Point

This paper describes a human-inspired method (HIM) and a fully integrated navigation strategy for a wheeled mobile robot in an outdoor farm setting. The proposed strategy is composed of four main actions: sensor data analysis, obstacle detection, obstacle avoidance, and goal seeking. Using these actions, the navigation approach is capable of autonomous row-detection, row-following, and path planning motion in outdoor settings. In order to drive the robot in off-road terrain, it must detect holes or ground depressions (negative obstacles) that are inherent parts of these environments, in real-time at a safe distance from the robot. Key originalities of the proposed approach are its capability to accurately detect both positive (over ground) and negative obstacles, and accurately identify the end of the rows of bushes (e.g., in a farm) and enter the next row. Experimental evaluations were carried out using a differential wheeled mobile robot in different settings. The robot, used for experiments, utilizes a tilting unit, which carries a laser range finder (LRF) to detect objects, and a real-time kinematics differential global positioning system (RTK-DGPS) unit for localization. Experiments demonstrate that the proposed technique is capable of successfully detecting and following rows (path following) as well as robust navigation of the robot for point-to-point motion control.

Path Following Control Algorithms Implemented in a Mobile Robot with OMNI Wheels

2016 ◽  
Vol 24 (3) ◽  
pp. 131-142
Author(s):  
J. Wang ◽  
◽  
A.Yu. Krasnov ◽  
Yu.A. Kapitanyuk ◽  
S.A. Chepinskiy ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Path Following ◽  
Control Algorithms ◽  
Path Following Control
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