Title :
New trajectory generation methods for nonholonomic mobile robots
Author :
Dong, Wenjie ; Guo, Yi
Author_Institution :
Dept. of Electr. & Comput. Eng., Central Florida Univ., Orlando, FL
Abstract :
We consider the problem of trajectory generation of nonholonomic mobile robots. We propose two trajectory generation algorithms, one uses a differential flatness based method and the other uses a polynomial input based method. Simulation results are shown for the proposed trajectory generation algorithms
Keywords :
mobile robots; polynomials; position control; closed-loop control; differential flatness based trajectory generation method; nonholonomic mobile robot; polynomial input based trajectory generation method; Algebra; Boundary conditions; Computational modeling; Control systems; Mobile robots; Optimal control; Polynomials; Robot kinematics; Trajectory; Wheels;
Conference_Titel :
Collaborative Technologies and Systems, 2005. Proceedings of the 2005 International Symposium on
Conference_Location :
St Louis, MO
Print_ISBN :
0-7695-2387-0
DOI :
10.1109/ISCST.2005.1553334
