NDLI: Path tracking and trajectory planning for nonholonomic wheeled mobile robots

Content Provider	IEEE Xplore Digital Library
Author	Xie Kewei Zhuang Yan Wang Wei
Copyright Year	2008
Description	Author affiliation: Res. Center of Inf. & Control, Dalian Univ. of Technol., Dalian (Xie Kewei; Zhuang Yan; Wang Wei)
Abstract	In order to track multiform curves planned for nonholonomic wheeled mobile robots stably, this paper presents an effective trajectory planning scheme and an improved tracking controller using a biological incentive model. The trajectory planning scheme, which includes a curvature estimator based on two adjacent points, combines the results of path planning with the policies of tracking.. The kinetic restrictions method based on biological incentive model is introduced in backstepping technique to improve the control stability. It resolves the velocity jump problem existing in some previous tracking controllers and deals with the situations with large tracking errors. Simulation results demonstrate the effectiveness of tracking capability of the proposed scheme.
Starting Page	415
Ending Page	420
File Size	194345
Page Count	6
File Format	PDF
ISBN	9787900719706
DOI	10.1109/CHICC.2008.4605570
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-07-16
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute Of Intelligence M&C Technical Of KMUST
Subject Keyword	Path tracking Tracking Trajectory planning Biological system modeling Kinetic restriction Angular velocity Planning Trajectory Acceleration Nonholonomic wheeled mobile robot Robots
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Trajectory tracking of Wheeled Mobile Robots: A kinematical approach

A novel visual servoing feedback control of nonholonomic wheeled mobile robots

A reference governor approach for path tracking of nonholonomic mobile robot

Multimode discrete control for Wheeled Mobile Robots

Optimal trajectories for nonholonomic mobile robots (1998)

Discontinuous finite-time tracking controller of nonholonomic mobile robots with unmeasurable velocity

Trajectory planning optimization with dynamic modeling of four wheeled omni-directional mobile robots

Experimental comparison of trajectory tracking algorithms for nonholonomic mobile robots

Trajectory tracking of two wheeled mobile robot

Path tracking and trajectory planning for nonholonomic wheeled mobile robots

Similar Documents

Trajectory tracking of Wheeled Mobile Robots: A kinematical approach

A novel visual servoing feedback control of nonholonomic wheeled mobile robots

A reference governor approach for path tracking of nonholonomic mobile robot

Multimode discrete control for Wheeled Mobile Robots

Optimal trajectories for nonholonomic mobile robots (1998)

Discontinuous finite-time tracking controller of nonholonomic mobile robots with unmeasurable velocity

Trajectory planning optimization with dynamic modeling of four wheeled omni-directional mobile robots

Experimental comparison of trajectory tracking algorithms for nonholonomic mobile robots

Trajectory tracking of two wheeled mobile robot

Path tracking and trajectory planning for nonholonomic wheeled mobile robots