Tampere University of Technology

TUTCRIS Research Portal

A time-optimal bounded velocity path-following controller for generic Wheeled Mobile Robots

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review


Original languageEnglish
Title of host publication2015 IEEE International Conference on Robotics and Automation (ICRA), 26-30 May 2015, Seattle, WA
PublisherInstitute of Electrical and Electronics Engineers IEEE
Number of pages8
ISBN (Print)978-1-4799-6923-4
Publication statusPublished - 29 Jun 2015
Publication typeA4 Article in a conference publication
EventIEEE International Conference on Robotics and Automation -
Duration: 1 Jan 19001 Jan 2000


ConferenceIEEE International Conference on Robotics and Automation


This paper, as a generalization of our previous works, presents a unified time-optimal path-following controller for Wheeled Mobile Robots (WMRs). Unlike other path-following controllers, we solve the path-following problem for all common categories of WMRs such as car-like, differential, omnidirectional, all wheels steerable and others. We show that the insertion of our path-following controller into the kinematic and non-holonomic constraints of the wheels, simplifies the otherwise impenetrable constraints, resulting in explicit monotonic functions between the velocity of the base and that of the wheels. Based on this foundation, we present a closed-form solution that keeps all the wheels' steering and driving velocities within their corresponding pre-specified bounds. Simulation data and experimental results from executing the controller in a real-time environment demonstrate the efficacy of the method.