Smooth motion generation for unicycle mobile robots via dynamic path inversion

被引：29
作者：
Guarino Lo Bianco, C [1 ]
Piazzi, A [1 ]
Romano, M [1 ]
机构：
[1] Univ Parma, Dipartimento Ingn Informaz, I-43100 Parma, Italy
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2004年 / 20卷 / 05期
关键词：
dynamic path inversion; geometric continuity; smooth motion generation; unicycle mobile robots;
D O I：
10.1109/TRO.2004.832827
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new motion-generation approach is proposed for wheeled mobile robots described by the unicycle kinematic model. This approach permits the generation of smooth continuous-acceleration controls using a dynamic path-inversion procedure that exploits the concept of G(3)-paths, i.e., Cartesian paths with third-order geometric continuity (both the curvature function and its derivative, with respect to the arc length, are continuous). The exposed steering method is well suited to be adopted for the robot's iterative steering within a supervisory control architecture for sensor-based autonomous navigation. A worked example illustrates the approach.
引用
收藏
页码：884 / 891
页数：8
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