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Real-time path tracking for unicycle-like mobile robots under velocity and acceleration constraints

A motion planning algorithm for unicycle-like mobile robots is presented. A desired trajectory is available in real-time to be followed by a nonholonomic mobile robot with bounds on the linear/angular velocities and accelerations. Moreover, in the respect of the kinematic constraints, the desired path has to be kept. The proposed algorithm is based on a discrete time kinematic control based on the definition of a virtual time. A fuzzy inference system is in charge of handling the additional information given by the difference between virtual and real time.