This paper presents a path description method which uses a sequence of straight lines with coordinate transformations. This concept is hardware-independent and may be applied to any kind of vehicles. A local vehicle trajectory control algorithm is used both for determining the transient portions of each vehicle trajectory and for keeping the vehicle moving along a given directed straight line. A vehicle control command system, MITCHI, is one realization of the idea and is also introduced here. The MITCHI command system has been implemented on self-contained Yamabico mobile robots. Several design features, such as status transition, fast/slow command execution, velocity control and simulation are also described.
|Number of pages||12|
|Journal||IEEE Journal on Robotics and Automation|
|Publication status||Published - 1988 Jun|
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering