Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
DEPLOYMENT OF A SMOOTH CLOTHOID-BASED PATH PLANNINGAND PREDICTIVE CONTROL FOR THE AUTONOMOUS NAVIGATIONOF A CAR-LIKE ROBOT
Submission Author:
Renan Pinto , SP , Brazil
Co-Authors:
Renan Pinto, andres eduardo baquero velasquez, Ingrid Lorena Argote Pedraza, Vitor Akihiro Hisano Higuti, Mateus Valverde Gasparino, Marcelo Becker
Presenter: Renan Pinto
doi://10.26678/ABCM.COBEM2019.COB2019-1683
Abstract
This paper describes the development and implementation of a predictive clothoids-based controller for a car-like mobile robot. This controller is able to keep a desired track along the robot displacement. In this approach, a continuous function, that considers the kinematic constraints, was used to determine the position and orientation of the robot in the entire path. The proposed system creates a smooth driving while maintains accuracy. The current orientation of the robot is measured by an IMU (Inertial Measurement Unit)and a GNSS (Global Navigation Satellite System) sensor. The experimental results demonstrate the ability of the controller to maintain accuracy while keeping a smoothing drive
Keywords
Trajectory control, Clothoids, Autonomous systems, Trajectory generation
