Receding horizon approach to path following mobile robot in the presence of velocity constraints
Martin Bak, Niels Kjølstad Poulsen, Ole Ravn · 2001
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.