A fast path planning-and-tracking control for wheeled mobile robots

T. H. Lee; H. K. Lam; Hung Fat Frank Leung; P. K S Tam

doi:10.1109/ROBOT.2001.932861

A fast path planning-and-tracking control for wheeled mobile robots

T. H. Lee, H. K. Lam, Hung Fat Frank Leung, P. K S Tam

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

14 Citations (Scopus)

Abstract

This paper presents a fast method to plan the path, and control the position of wheeled mobile robots (WMRs) in a robot soccer game. In a WMR system with position control, when the target position is given, the controller will generate the reference path and then the WMR will move to the target position following the reference path. To tackle the difficulties of the nonlinear control problem, the motion of the WMR is realized via changing the linear displacement and angular displacement in a separate manner such that the WMR is either rotating or moving in a straight line at any one time. This method takes advantage of a proposed fast path-planning algorithm. The complexity of design is thus significantly reduced.

Original language	English
Title of host publication	Proceedings - IEEE International Conference on Robotics and Automation
Pages	1736-1741
Number of pages	6
Volume	2
DOIs	https://doi.org/10.1109/ROBOT.2001.932861
Publication status	Published - 15 Sept 2001
Event	2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of Duration: 21 May 2001 → 26 May 2001

Conference

Conference	2001IEEE International Conference on Robotics and Automation (ICRA)
Country/Territory	Korea, Republic of
City	Seoul
Period	21/05/01 → 26/05/01

ASJC Scopus subject areas

Software
Control and Systems Engineering

More information

10.1109/ROBOT.2001.932861

http://hdl.handle.net/10397/1436

Cite this

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A fast path planning-and-tracking control for wheeled mobile robots. / Lee, T. H.; Lam, H. K.; Leung, Hung Fat Frank et al.
Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2 2001. p. 1736-1741.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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A fast path planning-and-tracking control for wheeled mobile robots

Abstract

Conference

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