Coordinated Path Following for Mobile Robots

Recent advances in the domains of social and life artificial intelligence have constituted the basis for a new discipline that studies cooperation in multi-robot systems and its utility in applications where some tasks cannot be carried out by a single robot. This paper introduces a trajectory generator which is used for determination of the most appropriate trajectory which a robot needs to track in order to perform different tasks specific to cooperative robots, such as moving in a given formation or pushing an object to a given destination. Different algorithms are described in this paper, starting from simple polyline and circular paths to complex Bezier trajectories. Simulation results of the proposed path generation system are also provided, along with the description of its implementation on real mobile robots. An implementation of real robots is also presented in this paper.

Download Full-text

DGPS-BASED LOCALIZATION AND PATH FOLLOWING APPROACH FOR OUTDOOR WHEELED MOBILE ROBOTS

International Journal of Robotics and Automation ◽

10.2316/journal.206.2015.1.206-3971 ◽

2015 ◽

Vol 30 (1) ◽

Cited By ~ 4

Author(s):

Leslie Ssebazza ◽

Ya-Jun Pan

Keyword(s):

Mobile Robots ◽

Path Following ◽

Wheeled Mobile Robots

Download Full-text

Local Path-Tracking Strategies for Mobile Robots Using PID Controllers

Mobile Ad Hoc Robots and Wireless Robotic Systems - Advances in Computational Intelligence and Robotics ◽

10.4018/978-1-4666-2658-4.ch003 ◽

2013 ◽

pp. 58-79

Author(s):

Lluis Pacheco ◽

Ningsu Luo

Keyword(s):

Mobile Robot ◽

Mobile Robots ◽

Path Following ◽

Research Topic ◽

Pid Controllers ◽

Good Communication ◽

Nonholonomic Robots ◽

Robot Positioning ◽

Local Path ◽

Control Methodology

Accurate path following is an important mobile robot research topic. In many cases, radio controlled robots are not able to work properly due to the lack of a good communication system. This problem can cause many difficulties when robot positioning is regarded. In this context, gaining automatic abilities becomes essential to achieving a major number of mission successes. This chapter presents a suitable control methodology used to achieve accurate path following and positioning of nonholonomic robots by using PID controllers. An important goal is to present the obtained experimental results by using the available mobile robot platform that consists of a differential driven one.

Download Full-text