scholarly journals A simple path tracking controller for car-like mobile robots

1997 ◽  
Author(s):  
Andre Kamga ◽  
Ahmed Rachid
Keyword(s):  
Mobile Robots ◽  
Path Tracking ◽  
Simple Path ◽  
Tracking Controller

scholarly journals Fuzzy Logic Based Path Tracking Controller for Wheeled Mobile Robots

2014 ◽  
Vol 6 (2) ◽  
pp. 145-150 ◽  
Author(s):  
Umar Farooq ◽  
K. M. Hasan ◽  
Athar Hanif ◽  
Muhammad Amar ◽  
Muhammad Usman Asad
Keyword(s):  
Fuzzy Logic ◽  
Mobile Robots ◽  
Path Tracking ◽  
Wheeled Mobile Robots ◽  
Tracking Controller

Gaussian Kernel Controller for Path Tracking in Mobile Robots

2018 ◽  
Author(s):  
Bijo Sebastian ◽  
Adam Williams ◽  
Pinhas Ben-Tzvi
Keyword(s):  
Mobile Robots ◽  
Real Life ◽  
Path Tracking ◽  
Gaussian Kernel ◽  
Robot Motion ◽  
Future Directions ◽  
Gaussian Kernels ◽  
Smooth Motion ◽  
Tracking Controller ◽  
Pure Pursuit

This paper describes the design of a Gaussian kernel based path tracking controller for mobile robots. In order to achieve successful navigation under hybrid navigation architectures, it is critical for the robot to follow the path provided by a highlevel planner even while moving between waypoints. This is particularly difficult in real life situations involving robot motion in challenging terrains. Existing controllers for this purpose such as the pure pursuit does not ensure smooth motion of the robot or accurate tracking while moving between path segments. This paper describes the design of a controller that can ensure accurate path tracking even in the presence of disturbances, by utilizing the gradients of moving Gaussian kernels. In order to characterize the performance of the proposed controller, two different sets of simulations are conducted. Based on the results of the simulations, the Gaussian kernel controller ensures accurate tracking of the provided reference path while addressing the shortcomings of existing controllers. The paper concludes with a discussion on future directions for improvement.

A trajectory tracking controller with dynamic gains for mobile robots

2011 ◽  
Author(s):  
Cassius Z. Resende ◽  
F. Espinosa ◽  
I. Bravo ◽  
Mario Sarcinelli-Filho ◽  
Teodiano F. Bastos-Filho
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Controller ◽  
Trajectory Tracking Controller

A Novel Path Tracking Controller for Magnetic Guided AGVs

2021 ◽  
Author(s):  
Zhenghong Jiang ◽  
Yucheng Xu ◽  
Lei Sun
Keyword(s):  
Path Tracking ◽  
Tracking Controller
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