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Mathematical Problems in Engineering
Volume 2014 (2014), Article ID 254503, 13 pages
Research Article

An Improved Path-Generating Regulator for Two-Wheeled Robots to Track the Circle/Arc Passage

1Division of Production and Information Systems Engineering, Muroran Institute of Technology, 27-1 Mizumoto-cho, Muroran, Hokkaido 050-8585, Japan
2College of Design and Manufacturing Technology, Muroran Institute of Technology, 27-1 Mizumoto-cho, Muroran, Hokkaido 050-8585, Japan
3Department of Mechanical Engineering, Hokkaido University of Science, 4-1 Maeda 7-jo 15-chome, Teine-ku, Sapporo 006-8585, Japan

Received 9 April 2014; Revised 25 June 2014; Accepted 9 July 2014; Published 23 July 2014

Academic Editor: Anders Eriksson

Copyright © 2014 Jun Dai et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The improved path-generating regulator (PGR) is proposed to path track the circle/arc passage for two-wheeled robots. The PGR, which is a control method for robots so as to orient its heading toward the tangential direction of one of the curves belonging to the family of path functions, is applied to navigation problem originally. Driving environments for robots are usually roads, streets, paths, passages, and ridges. These tracks can be seen as they consist of straight lines and arcs. In the case of small interval, arc can be regarded as straight line approximately; therefore we extended the PGR to drive the robot move along circle/arc passage based on the theory that PGR to track the straight passage. In addition, the adjustable look-ahead method is proposed to improve the robot trajectory convergence property to the target circle/arc. The effectiveness is proved through MATLAB simulations on both the comparisons with the PGR and the improved PGR with adjustable look-ahead method. The results of numerical simulations show that the adjustable look-ahead method has better convergence property and stronger capacity of resisting disturbance.