Sabatta, DG2009-12-032009-12-032009-11Sabatta, DG. 2009. Design of an arbitrary path-following controller for a non-holonomic mobile platform. 3rd Robotics and Mechatronics Symposium (ROBMECH 2009). Pretoria, South Africa, 8-10 November 2009, pp 79780620447218http://hdl.handle.net/10204/37923rd Robotics and Mechatronics Symposium (ROBMECH 2009). Pretoria, South Africa, 8-10 November 2009Before a robot may be classed as an autonomous system, it must be able to move unaided in an environment. In a known environment or with pre-recorded trajectories, this reduces to the problem of path following. In order to follow an arbitrarily defined path, the researchers are required to calculate the system inputs to the platform in the form of rotational and translational velocities to keep the robot on this path. In this paper the researchers derive an analytical controller for a non-holonomic mobile platform capable of following an arbitrarily defined smooth path. To derive an analytical controller, the researchers require an analytical definition of the path which is not always available for arbitrary paths. To overcome this problem the researchers divide the path up into circular and straight segments which are handled independently. The controller takes as input the first two derivatives of the arbitrary path at each point and calculates the desired forward and rotational velocities required for the platform to asymptotically track the path. The controller derived in this paper is implemented on the Seekur platform from Mobile Robots. Results showing the following of a pre-recorded path from differential GPS are discussed.enAnalytical controllerNonholonomic mobile platformArbitrary pathRoboticsMobile robotsConference PresentationSabatta, D. (2009). Design of an arbitrary path-following controller for a non-holonomic mobile platform. http://hdl.handle.net/10204/3792Sabatta, DG. "Design of an arbitrary path-following controller for a non-holonomic mobile platform." (2009): http://hdl.handle.net/10204/3792Sabatta D, Design of an arbitrary path-following controller for a non-holonomic mobile platform; 2009. http://hdl.handle.net/10204/3792 .TY - Conference Presentation AU - Sabatta, DG AB - Before a robot may be classed as an autonomous system, it must be able to move unaided in an environment. In a known environment or with pre-recorded trajectories, this reduces to the problem of path following. In order to follow an arbitrarily defined path, the researchers are required to calculate the system inputs to the platform in the form of rotational and translational velocities to keep the robot on this path. In this paper the researchers derive an analytical controller for a non-holonomic mobile platform capable of following an arbitrarily defined smooth path. To derive an analytical controller, the researchers require an analytical definition of the path which is not always available for arbitrary paths. To overcome this problem the researchers divide the path up into circular and straight segments which are handled independently. The controller takes as input the first two derivatives of the arbitrary path at each point and calculates the desired forward and rotational velocities required for the platform to asymptotically track the path. The controller derived in this paper is implemented on the Seekur platform from Mobile Robots. Results showing the following of a pre-recorded path from differential GPS are discussed. DA - 2009-11 DB - ResearchSpace DP - CSIR KW - Analytical controller KW - Nonholonomic mobile platform KW - Arbitrary path KW - Robotics KW - Mobile robots LK - https://researchspace.csir.co.za PY - 2009 SM - 9780620447218 T1 - Design of an arbitrary path-following controller for a non-holonomic mobile platform TI - Design of an arbitrary path-following controller for a non-holonomic mobile platform UR - http://hdl.handle.net/10204/3792 ER -