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Zeitschriftenartikel:

S. Jakubek, M Seyr, G. Novak:
"Autonomous Mobile Robot Proprioceptive Navigation and Predictive Trajectory Tracking";
International Journal of Control, 81 (2008), 6; S. 989 - 1001.



Kurzfassung englisch:
For an autonomous mobile robot a novel predictive control algorithm is presented, that enables both trajectory tracking and point stabilization. This algorithm is employed in conjunction with a proprioceptive navigation algorithm using either inertial or odometric data for posture estimation according to detected slip conditions. Based on the latter, slip control is made possible. Experimental results demonstrate the performance of the system.

Schlagworte:
Autonomous mobile robot, predictive trajectory tracking

Erstellt aus der Publikationsdatenbank der Technischen Universitšt Wien.