Universal Path-Following of Wheeled Mobile Robots: A Closed-Form Bounded Velocity Solution

This paper presents a nonlinear, universal, path-following controller for Wheeled Mobile Robots (WMRs). This approach, unlike previous algorithms, solves the path-following problem for all common categories of holonomic and nonholonomic WMRs, such as omnidirectional, unicycle, car-like, and all stee...

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Auteurs principaux: Reza Oftadeh, Reza Ghabcheloo, Jouni Mattila
Format: article
Langue:EN
Publié: MDPI AG 2021
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Accès en ligne:https://doaj.org/article/e29687aa47ae41f6a43b5db80e95fc71
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