Planning and tracking trajectories of land vehicles based on the direction control in a real environment

Ruben Dario Hernandez Beleno (1) , Giovani Bernardes Vitor (1) , Janito Vaqueiro Ferreira (1) , Pablo Siqueira Meirelles (1)

1 UNICAMP - Universidade Estadual de Campinas = University of Campinas

This paper presents a direction control algorithm, used on path planning and tracking of an scale automated guided vehicle (AGV), giving it a reliable behavior on real environments. The path planner builds a path free of obstacles which is applicable from the kinematics study point-of-view, where, the controller set the direction angle, in order to minimize the orientation and localization regarding its displacement from a start point to an end point on the route planned.

Mots clés: Direction control; mobile robot navigation; path planning; navigation sensory systems; embedded systems

Domaines: Robotique [cs.RO]; Systèmes embarqués; Systèmes et contrôle [cs.SY]

Ruben Dario Hernandez Beleno, Giovani Bernardes Vitor, Janito Vaqueiro Ferreira, Pablo Siqueira Meirelles. Planning and tracking trajectories of land vehicles based on the direction control in a real environment. First International Conference on Advanced Mechatronics, Design, and Manufacturing Technology - AMDM 2012, Sep 2012, Pereira, Colombia. pp.1-6. ⟨hal-00956240⟩