1 Mathematical Statistics, Department of Informatics and Mathematical Modeling, Technical University of Denmark2 Department of Informatics and Mathematical Modeling, Technical University of Denmark3 Department of Automation, Technical University of Denmark4 Department of Applied Mathematics and Computer Science, Technical University of Denmark5 Department of Electrical Engineering, Technical University of Denmark
This paper focuses on path following algorithms for mobile robots with velocity constraints on the wheels. The path considered consists of straight lines intersected with given angles. We present a fast real-time receding horizon controller which anticipates the intersections and smoothly controls the robot through the turnings while fulfilling the velocity constraints.
predictive control; robot applications; robot control; mobile robots; autonomous vehicles