Dynamic steering control of conventionally-steered mobile robots
Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, Vol. 1, pp. 390 - 395, May, 1990
Abstract
An algorithm is presented for dynamically steering an autonomous mobile robot (AMR) along a collision-free path to a goal using local feedback information. A two-level navigation algorithm is presented in which a subgoal selection algorithm (SSA) generates visible subgoals to be pursued by the steering control algorithm (SCA). The authors focus on the SCA. In particular, a general feedback scheme is developed for dynamically steering an ARM to a visible goal in the local obstacle-free space identified by the SSA. The detailed implementation of the SCA for a conventionally steered AMR (CAMR) is presented. Simulation results are presented which demonstrate the effectiveness of the combined SSA-SCA feedback scheme.
BibTeX
@conference{Feng-1990-13110,author = {D. Feng and Bruce Krogh},
title = {Dynamic steering control of conventionally-steered mobile robots},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {1990},
month = {May},
volume = {1},
pages = {390 - 395},
}
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