Optimal Control of a Mobile Robot Describing Minimum-Length Paths with Forward and Backward Motion
Descripción del Articulo
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 i...
| Autores: | , , |
|---|---|
| Formato: | artículo |
| Fecha de Publicación: | 2019 |
| Institución: | Consejo Nacional de Ciencia Tecnología e Innovación |
| Repositorio: | CONCYTEC-Institucional |
| Lenguaje: | inglés |
| OAI Identifier: | oai:repositorio.concytec.gob.pe:20.500.12390/2861 |
| Enlace del recurso: | https://hdl.handle.net/20.500.12390/2861 https://doi.org/10.1109/ICARM.2019.8834184 |
| Nivel de acceso: | acceso abierto |
| Materia: | Switches Mobile robots Mathematical model Robot kinematics Junctions https://purl.org/pe-repo/ocde/ford#2.02.02 |
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| dc.title.none.fl_str_mv |
Optimal Control of a Mobile Robot Describing Minimum-Length Paths with Forward and Backward Motion |
| title |
Optimal Control of a Mobile Robot Describing Minimum-Length Paths with Forward and Backward Motion |
| spellingShingle |
Optimal Control of a Mobile Robot Describing Minimum-Length Paths with Forward and Backward Motion Velasco Mellado, Luis Switches Mobile robots Mathematical model Robot kinematics Junctions https://purl.org/pe-repo/ocde/ford#2.02.02 |
| title_short |
Optimal Control of a Mobile Robot Describing Minimum-Length Paths with Forward and Backward Motion |
| title_full |
Optimal Control of a Mobile Robot Describing Minimum-Length Paths with Forward and Backward Motion |
| title_fullStr |
Optimal Control of a Mobile Robot Describing Minimum-Length Paths with Forward and Backward Motion |
| title_full_unstemmed |
Optimal Control of a Mobile Robot Describing Minimum-Length Paths with Forward and Backward Motion |
| title_sort |
Optimal Control of a Mobile Robot Describing Minimum-Length Paths with Forward and Backward Motion |
| author |
Velasco Mellado, Luis |
| author_facet |
Velasco Mellado, Luis Moran Cardenas, Antonio Cuellar Cordova, Francisco |
| author_role |
author |
| author2 |
Moran Cardenas, Antonio Cuellar Cordova, Francisco |
| author2_role |
author author |
| dc.contributor.author.fl_str_mv |
Velasco Mellado, Luis Moran Cardenas, Antonio Cuellar Cordova, Francisco |
| dc.subject.none.fl_str_mv |
Switches |
| topic |
Switches Mobile robots Mathematical model Robot kinematics Junctions https://purl.org/pe-repo/ocde/ford#2.02.02 |
| dc.subject.es_PE.fl_str_mv |
Mobile robots Mathematical model Robot kinematics Junctions |
| dc.subject.ocde.none.fl_str_mv |
https://purl.org/pe-repo/ocde/ford#2.02.02 |
| description |
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. |
| publishDate |
2019 |
| dc.date.accessioned.none.fl_str_mv |
2024-05-30T23:13:38Z |
| dc.date.available.none.fl_str_mv |
2024-05-30T23:13:38Z |
| dc.date.issued.fl_str_mv |
2019 |
| dc.type.none.fl_str_mv |
info:eu-repo/semantics/article |
| format |
article |
| dc.identifier.uri.none.fl_str_mv |
https://hdl.handle.net/20.500.12390/2861 |
| dc.identifier.doi.none.fl_str_mv |
https://doi.org/10.1109/ICARM.2019.8834184 |
| url |
https://hdl.handle.net/20.500.12390/2861 https://doi.org/10.1109/ICARM.2019.8834184 |
| dc.language.iso.none.fl_str_mv |
eng |
| language |
eng |
| dc.relation.ispartof.none.fl_str_mv |
2019 IEEE 4TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2019) |
| dc.rights.none.fl_str_mv |
info:eu-repo/semantics/openAccess |
| eu_rights_str_mv |
openAccess |
| dc.publisher.none.fl_str_mv |
IEEE |
| publisher.none.fl_str_mv |
IEEE |
| dc.source.none.fl_str_mv |
reponame:CONCYTEC-Institucional instname:Consejo Nacional de Ciencia Tecnología e Innovación instacron:CONCYTEC |
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Consejo Nacional de Ciencia Tecnología e Innovación |
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CONCYTEC |
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CONCYTEC |
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CONCYTEC-Institucional |
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CONCYTEC-Institucional |
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Repositorio Institucional CONCYTEC |
| repository.mail.fl_str_mv |
repositorio@concytec.gob.pe |
| _version_ |
1839175579637645312 |
| spelling |
Publicationrp07904600rp07905600rp07903600Velasco Mellado, LuisMoran Cardenas, AntonioCuellar Cordova, Francisco2024-05-30T23:13:38Z2024-05-30T23:13:38Z2019https://hdl.handle.net/20.500.12390/2861https://doi.org/10.1109/ICARM.2019.8834184This 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.Consejo Nacional de Ciencia, Tecnología e Innovación Tecnológica - ConcytecengIEEE2019 IEEE 4TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2019)info:eu-repo/semantics/openAccessSwitchesMobile robots-1Mathematical model-1Robot kinematics-1Junctions-1https://purl.org/pe-repo/ocde/ford#2.02.02-1Optimal Control of a Mobile Robot Describing Minimum-Length Paths with Forward and Backward Motioninfo:eu-repo/semantics/articlereponame:CONCYTEC-Institucionalinstname:Consejo Nacional de Ciencia Tecnología e Innovacióninstacron:CONCYTEC#PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE#20.500.12390/2861oai:repositorio.concytec.gob.pe:20.500.12390/28612024-05-30 15:42:39.981http://purl.org/coar/access_right/c_14cbinfo:eu-repo/semantics/closedAccessmetadata only accesshttps://repositorio.concytec.gob.peRepositorio Institucional CONCYTECrepositorio@concytec.gob.pe#PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE##PLACEHOLDER_PARENT_METADATA_VALUE#<Publication xmlns="https://www.openaire.eu/cerif-profile/1.1/" id="67b4d161-6a59-47ed-9cbf-f8e38fc1172f"> <Type xmlns="https://www.openaire.eu/cerif-profile/vocab/COAR_Publication_Types">http://purl.org/coar/resource_type/c_1843</Type> <Language>eng</Language> <Title>Optimal Control of a Mobile Robot Describing Minimum-Length Paths with Forward and Backward Motion</Title> <PublishedIn> <Publication> <Title>2019 IEEE 4TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2019)</Title> </Publication> </PublishedIn> <PublicationDate>2019</PublicationDate> <DOI>https://doi.org/10.1109/ICARM.2019.8834184</DOI> <Authors> <Author> <DisplayName>Velasco Mellado, Luis</DisplayName> <Person id="rp07904" /> <Affiliation> <OrgUnit> </OrgUnit> </Affiliation> </Author> <Author> <DisplayName>Moran Cardenas, Antonio</DisplayName> <Person id="rp07905" /> <Affiliation> <OrgUnit> </OrgUnit> </Affiliation> </Author> <Author> <DisplayName>Cuellar Cordova, Francisco</DisplayName> <Person id="rp07903" /> <Affiliation> <OrgUnit> </OrgUnit> </Affiliation> </Author> </Authors> <Editors> </Editors> <Publishers> <Publisher> <DisplayName>IEEE</DisplayName> <OrgUnit /> </Publisher> </Publishers> <Keyword>Switches</Keyword> <Keyword>Mobile robots</Keyword> <Keyword>Mathematical model</Keyword> <Keyword>Robot kinematics</Keyword> <Keyword>Junctions</Keyword> <Abstract>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.</Abstract> <Access xmlns="http://purl.org/coar/access_right" > </Access> </Publication> -1 |
| score |
13.448654 |
Nota importante:
La información contenida en este registro es de entera responsabilidad de la institución que gestiona el repositorio institucional donde esta contenido este documento o set de datos. El CONCYTEC no se hace responsable por los contenidos (publicaciones y/o datos) accesibles a través del Repositorio Nacional Digital de Ciencia, Tecnología e Innovación de Acceso Abierto (ALICIA).
La información contenida en este registro es de entera responsabilidad de la institución que gestiona el repositorio institucional donde esta contenido este documento o set de datos. El CONCYTEC no se hace responsable por los contenidos (publicaciones y/o datos) accesibles a través del Repositorio Nacional Digital de Ciencia, Tecnología e Innovación de Acceso Abierto (ALICIA).
