A novel time optimal path following controller with bounded velocities for mobile robots with independently steerable wheels.
Reza OftadehReza GhabchelooJouni MattilaPublished in: IROS (2013)
Keyphrases
- mobile robot
- obstacle avoidance
- motion control
- optimal control
- kinematic model
- motion planning
- real time
- control system
- dynamic programming
- neural network
- controller design
- autonomous navigation
- autonomous robots
- path planning
- dynamic environments
- moving objects
- lower bound
- optimal solution
- image sequences
- control strategy
- closed loop
- multi robot
- linear combination
- semidefinite programming
- asymptotically optimal