DocumentCode
2705123
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
fYear
2005
fDate
20-20 May 2005
Firstpage
353
Lastpage
358
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/ISCST.2005.1553334
Filename
1553334
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