DocumentCode
130085
Title
Application of the Leapfrog method to robot path planning
Author
Matebese, B.T. ; Withey, D.J. ; Banda, M.K.
Author_Institution
Mobile Intell. Autonomous Syst., Council for Sci. & Ind. Res., Pretoria, South Africa
fYear
2014
fDate
28-30 July 2014
Firstpage
710
Lastpage
715
Abstract
The capability and practical use of mobile robots in real-world applications has resulted in them being a topic of recent research interest. In this paper, motion planning for a mobile robot is considered. The Leapfrog algorithm, a method for solving nonlinear optimal control problems, is applied to generate optimal paths. The Leapfrog method is shown to produce optimal paths in simulations and for examples on a real robot and can find solutions where other solvers may fail.
Keywords
mobile robots; motion control; nonlinear control systems; optimal control; path planning; Leapfrog method; mobile robots; motion planning; nonlinear optimal control; robot path planning; Equations; Mobile robots; Optimal control; Robot kinematics; Trajectory; Leapfrog method; Mobile robot; optimal control; trajectory planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Information and Automation (ICIA), 2014 IEEE International Conference on
Conference_Location
Hailar
Type
conf
DOI
10.1109/ICInfA.2014.6932744
Filename
6932744
Link To Document