DocumentCode
1768410
Title
Trajectory generation for a car-like mobile robot using closed-loop prediction
Author
Byungjae Park ; Woo Yong Han
Author_Institution
Dept. of Vehicle-IT Convergence, ETRI, Daejeon, South Korea
fYear
2014
fDate
22-25 Oct. 2014
Firstpage
1407
Lastpage
1410
Abstract
This paper proposes a trajectory generation method using the closed-loop prediction to follow reference path, which are provided by a global path planner. Using the proposed method, smooth trajectories can be generated by considering the position of a mobile robot and its kinematic properties. The feasibility of the proposed method was verified by simulations in various situations.
Keywords
closed loop systems; mobile robots; path planning; predictive control; robot kinematics; trajectory control; car-like mobile robot; closed-loop prediction; global path planner; kinematic properties; mobile robot position; reference path; smooth trajectories; trajectory generation method; Robots; Trajectory; Autonomous navigation; mobile robot; path planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation and Systems (ICCAS), 2014 14th International Conference on
Conference_Location
Seoul
ISSN
2093-7121
Print_ISBN
978-8-9932-1506-9
Type
conf
DOI
10.1109/ICCAS.2014.6987779
Filename
6987779
Link To Document