Huskić, Goran and Buck, Sebastian and Zell, Andreas

A Simple and Efficient Path Following Algorithm for Wheeled Mobile Robots

Intelligent Autonomous Systems (IAS), The 14th International Conference on, Shanghai, CN, 2016

Abstract

A heuristic path following algorithm for wheeled mobile robots is presented. This approach is based on the orthogonal projection to the path and exponential functions for lateral and longitudinal control. It allows smooth and stable navigation in dynamic and cluttered environments, and does not depend on the robot's kinematics. The results are experimentally demonstrated using three di erent kinematic con gurations: omnidirectional, Ackermann- and two-steering

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BibTeX

@inproceedings{HuskicIAS2016,
  title = {A Simple and Efficient Path Following Algorithm for Wheeled Mobile Robots},
  author = {Huski\'{c}, Goran and Buck, Sebastian and Zell, Andreas},
  booktitle = {Intelligent Autonomous Systems (IAS), The 14th International Conference on},
  year = {2016},
  address = {Shanghai, CN},
  month = jul,
  abstract = {A heuristic path following algorithm for wheeled mobile robots
    is presented. This approach is based on the orthogonal projection to the
    path  and  exponential  functions  for  lateral  and  longitudinal  control.  It
    allows smooth and stable navigation in dynamic and cluttered environments,
    and does not depend on the robot's kinematics. The results are
    experimentally demonstrated using three di erent kinematic con gurations:
    omnidirectional, Ackermann- and two-steering},
  days = {3-7},
  doi = {10.1007/978-3-319-48036-7_27},
}