Path Following with a Time-Convergence Penalty Term for a Mobile Robot

Path Following with a Time-Convergence Penalty Term for a Mobile Robot

In this paper, we focus on a combination of path following and trajectory tracking for a mobile robot. Both are basic motion control schemes for a robot. The advantages of path following over trajectory tracking are that path following can avoid the use of large control signals for large path errors...

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Bibliographic Details
Main Author: Kiattisin KANJANAWANISHKUL
Format: Article
Language:English
Published: Walailak University 2014-01-01
Series:Walailak Journal of Science and Technology
Subjects:
Path following
contractive model predictive control
mobile robots
trajectory tracking
time-convergence
Online Access:http://wjst.wu.ac.th/index.php/wjst/article/view/840

Internet

http://wjst.wu.ac.th/index.php/wjst/article/view/840

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