Authors:
Mariolino De Cecco
1
;
Enrico Bertolazzi
1
;
Giordano Miori
1
;
Roberto Oboe
1
and
Luca Baglivo
2
Affiliations:
1
University of Trento, Italy
;
2
Universit of Padova, Italy
Keyword(s):
Wheeled Mobile Robot, WMR, path generation, path control, nonholonomic, clothoid.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Robotics and Automation
;
Vehicle Control Applications
Abstract:
A novel technique called PC-Sliding for path planning and control of non-holonomic vehicles is presented and its performances analysed in terms of robustness. The path following is based upon a polynomial curvature planning and a control strategy that replans iteratively to force the vehicle to correct for deviations while sliding over the desired path. Advantages of the proposed method are its logical simplicity, compatibility with respect to kinematics and partially to dynamics. Chained form transformations are not involved. Resulting trajectories are convenient to manipulate and execute in vehicle controllers while computed with a straightforward numerical procedure in
real-time. The performances of the method that embody a planner, a controller and a sensor fusion strategy is verified by Monte Carlo method to assess its robustness to parameters changes and measurement uncertainties.