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Optimal path generation for a simulated autonomous mobile robot

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Abstract

The paper deals with a set of algorithms including path planning, trajectory planning, and path tracking for a tricycle type wheeled mobile robot. Path planning is carried out with parametric polynomial interpolation using an optimization algorithm based on robot geometric constraints. Trajectory characteristics are then derived from the planned geometric path with time varying parameters. A sliding mode control algorithm combined with an adaptive control law are used to track the planned trajectory. The technique deals with an environment free of obstacles. However, it can be easily integrated in a piecewise non colliding path generation. Simulation results are presented to show the validity of the different algorithms.

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Authors and Affiliations

  1. Mechanical Engineering Department, École Polytechnique de Montréal, Station “Centre-Ville”, P.O. 6079, H3C 3A7, Montréal (Qc), Canada

    E. Bissé, M. Bentounes & E. K. Boukas

Authors
  1. E. Bissé
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  2. M. Bentounes
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  3. E. K. Boukas
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Additional information

Bissé Emmanuel is a Ph.D. student at the École Polytechnique de Montréal, Department of Mechanical Engineering.

Bentounes Mohamed is a Ph.D. student at the École Polytechnique de Montréal, Department of Mechanical Engineering.

Boukas El-Kébir is a Professor at the École Polytechnique de Montréal, Department of Mechanical Engineering.

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Bissé, E., Bentounes, M. & Boukas, E.K. Optimal path generation for a simulated autonomous mobile robot. Auton Robot 2, 11–27 (1995). https://doi.org/10.1007/BF00735436

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  • DOI: https://doi.org/10.1007/BF00735436

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