Avoiding steering actuator saturation in off-road mobile robot path tracking via predictive velocity control.
Oliver HachRoland LenainBenoît ThuilotPhilippe MartinetPublished in: IROS (2011)
Keyphrases
- robot navigation
- autonomous robots
- mobile robot
- reference trajectory
- control law
- wheeled mobile robots
- motion control
- trajectory tracking
- robot control
- closed loop
- visual servoing
- control system
- tracking error
- mobile robot localization
- desired trajectory
- dc motor
- path planning
- obstacle avoidance
- robotic systems
- autonomous navigation
- kinematic model
- robot motion
- control method
- mobile robotics
- loop closing
- neural network controller
- real time
- shortest path
- obstacle detection
- adaptive control
- object tracking
- trajectory tracking control
- visual tracking
- collision free
- simultaneous localization and mapping
- particle filter
- video sequences
- iterative learning
- mean shift
- surveillance system
- appearance model