In this paper we consider about path following control of a bike robot which have been studied for a long time in our laboratory and propose a method to generate paths to avoid obstacles based on the sensor information. In the proposed path generation algorithm, BiRRT, smoothing method, and RRT* are combined to generate paths on line. The validity of the proposed method is demonstrated by numerical simulations.
CITATION STYLE
Miyahara, R., & Yamakita, M. (2018). Path Following Control of Bike Robot. In Lecture Notes in Electrical Engineering (Vol. 465, pp. 597–606). Springer Verlag. https://doi.org/10.1007/978-3-319-69814-4_57
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