A higher level path tracking controller for a four-wheel differentially steered mobile robot.
Elie MaaloufMaarouf SaadHamadou SaliahPublished in: Robotics Auton. Syst. (2006)
Keyphrases
- mobile robot
- higher level
- wheeled mobile robots
- trajectory tracking
- motion control
- visual servoing
- mobile robot localization
- real time
- control system
- low level
- path planning
- lower level
- obstacle avoidance
- closed loop
- kalman filter
- dynamic environments
- dc motor
- control method
- object tracking
- mobile robotics
- particle filter
- motion planning
- mean shift
- optimal path
- neural network
- optimal control
- shortest path
- tracking error
- inverted pendulum
- autonomous navigation
- appearance model
- indoor environments
- particle filtering
- multi robot
- robot control
- autonomous robots
- collision free
- adaptive fuzzy
- visual tracking
- control scheme
- control algorithm
- high level
- loop closing