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A time-optimal speed schedule results in a mobile robot driving along a planned path at or near the limits of the robot's capability. However, deriving models to predict the effect of increased speed can be very difficult. In this paper, we present a speed scheduler that uses previous experience, instead of complex models, to generate time-optimal speed schedules. The algorithm is designed for a vision-based,...
In this study, a reference governor approach is proposed for path tracking of nonholonomic mobile robot considering prescribed constraints. The proposed approach is designed to minimize the tracking error with a desired speed while satisfying all other constraints such as bounds on linear and angular velocities, acceleration. This approach determines the control inputs of a path tracking algorithm...
Although recent progress in 2D mobile robot navigation has been significant, the great majority of existing work focuses only on ensuring that the robot reaches its goal. But to make autonomous navigation truly successful, the “quality” of planned motion is important as well. Here, we develop and analyze a pose-following kinematic control law applicable to unicycle-type robots, such that the robot...
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