loading
Papers

Research.Publish.Connect.

Paper

Paper Unlock

Authors: Mariolino De Cecco 1 ; Enrico Bertolazzi 1 ; Giordano Miori 1 ; Roberto Oboe 1 and Luca Baglivo 2

Affiliations: 1 University of Trento, Italy ; 2 Universit of Padova, Italy

ISBN: 978-972-8865-83-2

Keyword(s): Wheeled Mobile Robot, WMR, path generation, path control, nonholonomic, clothoid.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robotics and Automation ; Vehicle Control Applications

Abstract: A novel technique called PC-Sliding for path planning and control of non-holonomic vehicles is presented and its performances analysed in terms of robustness. The path following is based upon a polynomial curvature planning and a control strategy that replans iteratively to force the vehicle to correct for deviations while sliding over the desired path. Advantages of the proposed method are its logical simplicity, compatibility with respect to kinematics and partially to dynamics. Chained form transformations are not involved. Resulting trajectories are convenient to manipulate and execute in vehicle controllers while computed with a straightforward numerical procedure in real-time. The performances of the method that embody a planner, a controller and a sensor fusion strategy is verified by Monte Carlo method to assess its robustness to parameters changes and measurement uncertainties.

PDF ImageFull Text

Download
CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 18.232.55.175

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
De Cecco M.; Bertolazzi E.; Miori G.; Oboe R.; Baglivo L. and (2007). PC-SLIDING FOR VEHICLES PATH PLANNING AND CONTROL - Design and Evaluation of Robustness to Parameters Change and Measurement Uncertainty.In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-972-8865-83-2, pages 11-18. DOI: 10.5220/0001634400110018

@conference{icinco07,
author={Mariolino {De Cecco} and Enrico Bertolazzi and Giordano Miori and Roberto Oboe and Luca Baglivo},
title={PC-SLIDING FOR VEHICLES PATH PLANNING AND CONTROL - Design and Evaluation of Robustness to Parameters Change and Measurement Uncertainty},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2007},
pages={11-18},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001634400110018},
isbn={978-972-8865-83-2},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - PC-SLIDING FOR VEHICLES PATH PLANNING AND CONTROL - Design and Evaluation of Robustness to Parameters Change and Measurement Uncertainty
SN - 978-972-8865-83-2
AU - De Cecco, M.
AU - Bertolazzi, E.
AU - Miori, G.
AU - Oboe, R.
AU - Baglivo, L.
PY - 2007
SP - 11
EP - 18
DO - 10.5220/0001634400110018

Login or register to post comments.

Comments on this Paper: Be the first to review this paper.