TRAJECTORY CONTROL FOR AN INTELLIGENT MOBILE ROBOT
Luboš Král, Libor Přeučil, Petr Štěpán · 1998
In this paper, the authors present an algorithm for a controller that tracks trajectories. The algorithm is then implemented on an autonomous mobile robot system which includes modules such as global path planning and an obstacle avoidance system. The modules generate navigation targets which are achieved by moving the vehicle along a trajectory with controlled velocity position, and heading of the robot.