TY - GEN
T1 - Optimal control of a mobile robot describing minimum-length paths with forward and backward motion
AU - Mellado, Luis Velasco
AU - Cardenas, Antonio Moran
AU - Cordova, Francisco Cuellar
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - This paper presents a novel path planning algorithm for a car-like mobile robot describing optimal paths using forward and backward motion combined. Path planning for tracking a mobile robot is an important part of an autonomous control system, especially when precision and high energy performance is required, considering several constraints depending on the robot dynamics and the environment. The proposed algorithm uses curves and straight lines, which perfectly describe the desired minimum-length and then applying feedback linearization techniques to design a controller for generating the correct value of robot velocity and steering angle. Simulations are presented to validate the algorithm, leading the mobile robot to describe the optimal trajectory under different working conditions, verifying the effectiveness of the proposed control method.
AB - This paper presents a novel path planning algorithm for a car-like mobile robot describing optimal paths using forward and backward motion combined. Path planning for tracking a mobile robot is an important part of an autonomous control system, especially when precision and high energy performance is required, considering several constraints depending on the robot dynamics and the environment. The proposed algorithm uses curves and straight lines, which perfectly describe the desired minimum-length and then applying feedback linearization techniques to design a controller for generating the correct value of robot velocity and steering angle. Simulations are presented to validate the algorithm, leading the mobile robot to describe the optimal trajectory under different working conditions, verifying the effectiveness of the proposed control method.
KW - Feedback linearization
KW - Minimum path
KW - Mobile robot
KW - Optimal control
UR - http://www.scopus.com/inward/record.url?scp=85073262849&partnerID=8YFLogxK
U2 - 10.1109/ICARM.2019.8834184
DO - 10.1109/ICARM.2019.8834184
M3 - Conference contribution
AN - SCOPUS:85073262849
T3 - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
SP - 354
EP - 359
BT - 2019 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019
Y2 - 3 July 2019 through 5 July 2019
ER -