Adaptive preview control of single-point path tracker for car-like delivery service robot

I. Bae, J. H. Kim, S. Kim

Research output: Contribution to journalArticlepeer-review

5 Citations (Scopus)

Abstract

The purpose of this research is to design a simple and intuitive path tracker to minimise the distance error of a car-like delivery service robot using only a position sensor, i.e. global positioning system in outdoor environments. The authors proposed not only a single-point preview path tracker (SPP), but also a curvature-based preview control using a quadratic curve fitting technique. This method can provide flexibility in preview distance control even at a constant speed, and reduces the burden of an actuator for maintenance. Furthermore, the performance of the proposed adaptive SPP is considerably improved compared to that when using a fixed preview distance.

Original languageEnglish
Pages (from-to)127-129
Number of pages3
JournalElectronics Letters
Volume56
Issue number3
DOIs
Publication statusPublished - 2020 Feb 6

Bibliographical note

Publisher Copyright:
© The Institution of Engineering and Technology 2020.

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

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