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 language | English |
|---|---|
| Pages (from-to) | 127-129 |
| Number of pages | 3 |
| Journal | Electronics Letters |
| Volume | 56 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - 2020 Feb 6 |
Bibliographical note
Funding Information:Acknowledgments: This research was supported by the MSIT (Ministry of Science and ICT), Korea, under the ‘ICT Consilience Creative Program’ (IITP-2019-2017-0-01015) supervised by the IITP (Institute for Information & Communications Technology Planning & Evaluation)
Publisher Copyright:
© The Institution of Engineering and Technology 2020.
All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering