Predictive Path Tracking of Mobile Robots
Conference Paper, Proceedings of 5th International Conference on Advanced Robotics (ICAR '91), Vol. 2, pp. 1081 - 1086, June, 1991
Abstract
Presents a new path tracking method and its application to an autonomous vehicle, the NavLab (road-worthy truck modified for research in outdoor navigation). The method applies predictive control theory to obtain the appropriated steering angle taking into account the vehicle velocity. The authors consider both the single-input single output case and the multivariable formulation of the predictive control problem. Moreover they describe the implementation of the NavLab controller.
BibTeX
@conference{Ollero-1991-13257,author = {A. Ollero and Omead Amidi},
title = {Predictive Path Tracking of Mobile Robots},
booktitle = {Proceedings of 5th International Conference on Advanced Robotics (ICAR '91)},
year = {1991},
month = {June},
volume = {2},
pages = {1081 - 1086},
}
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