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论文类型：会议论文

发表时间：2008-07-16

收录刊物：EI、CPCI-S、Scopus

页面范围：415-420

关键字：Kinetic restriction; Trajectory planning; Path tracking; Nonholonomic wheeled mobile robot

摘要：In order to track multiform curves planned for nonholonomic wheeled mobile robots stably, this paper presents an effective trajectory planning scheme and an improved tracking controller using a biological incentive model. The trajectory planning scheme, which includes a curvature estimator based on two adjacent points, combines the results of path planning with the policies of tracking.. The kinetic restrictions method based on biological incentive model is introduced in backstepping technique to improve the control stability. It resolves the velocity jump problem existing in some previous tracking controllers and deals with the situations with large tracking errors. Simulation results demonstrate the effectiveness of tracking capability of the proposed scheme