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Path Planning and Path Tracking of Industrial Mobile Robots
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Author(s): Sašo Blažic (University of Ljubljana, Slovenia), El-Hadi Guechi (University of Valenciennes and Hainaut-Cambrésis, France), Jimmy Lauber (University of Valenciennes and Hainaut-Cambrésis, France), Michel Dambrine (University of Valenciennes and Hainaut-Cambrésis, France)and Gregor Klancar (University of Ljubljana, Slovenia)
Copyright: 2010
Pages: 41
Source title:
Intelligent Industrial Systems: Modeling, Automation and Adaptive Behavior
Source Author(s)/Editor(s): Gerasimos Rigatos (Industrial Systems Institute & National Technical University of Athens, Greece)
DOI: 10.4018/978-1-61520-849-4.ch004
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Abstract
The purpose of this chapter is to give a quick state of the art and to propose some new approaches in the area of path planning and path tracking for the differentially driven wheeled mobile robots. The main part of the chapter is devoted to the methods that ensure stable tracking of the prescribed reference trajectories. Of particular importance are the approaches that result in global stability of the tracking, e.g. Lyapunov-based control and parallel distributed Takagi-Sugeno fuzzy control. The effects of discrete measurements and delay on the control performance are also analysed. The second part of the chapter is devoted to path planning or trajectory design. Here, physical limitations of the robot and obstacle avoidance are treated.
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