Trajectory generation for autonomous mobile robots

Abstract

This chapter presents the generation of car-like autonomous mobile robots/vehicles tracking trajectory with three different methods comprising of flatness, polynomial and symmetric polynomial equations subject to constraints. Kinematic models for each method are presented with all necessary controlled variables including position, body angle, steer angle and their velocities. The control systems for this model are designed based on fuzzy/neural networks. Simulations are analyzed and compared for each method. Studies of this chapter can be used to develop a real-time control system for auto-driving and/or auto-parking vehicles. © 2014 Springer Science+Business Media Singapore.