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Waypoints guidance of differential-drive mobile robots with kinematic and precision constraints

Published online by Cambridge University Press:  22 July 2014

Patrice Boucher
Patrice Boucher*
Affiliation:
Perception and Robotics Laboratory, Faculty of Electrical Engineering, Polytechnique Montreal, 2500, Chemin de Polytechnique, Canada
*
*Corresponding author. E-mail: patrice.boucher@polymtl.ca
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Summary

This paper proposes a new kinematic controller for the waypoints guidance of robotic mobile platforms. A notable feature of the controller is its ability to process the raw sequence of waypoints to produce smooth reference velocities from control laws that are derived by taking into account a driving profile including the velocity limits, the acceleration limits, the motion modes through each waypoint (forward or backward) and the precision constraints that are required to ensure accurate waypoints traversal. A mathematical analysis demonstrates the convergence of the movements through the waypoints sequence. In addition, we present a simple way to adapt the driving profile in order that the platform reaches the last waypoint at a prescribed time. A feed-forward unit is finally described, that compensates for delays and first-order poles in the velocity response of the platform. Various simulations and experiments on real robotic platforms demonstrate the behavior and the effectiveness of the solution.

Keywords

Waypoints guidancepath-followingkinematic constraintssmooth navigationtemporal planningmobile robots
Type
Articles
Information
Robotica , Volume 34 , Issue 4 , April 2016 , pp. 876 - 899
Copyright
Copyright © Cambridge University Press 2014 

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