Title :
Trajectory generation of wheeled mobile robot using convolution method
Author :
Kim, Junghoon ; Choi, Youngjin
Author_Institution :
Hanyang Univ., Seoul, South Korea
Abstract :
This paper suggests a trajectory generation method using convolution operation for wheeled mobile robots. To be smooth (infinitely differentiable) trajectory generation for wheeled mobile robot, a curvature is utilized in this paper. It makes possible that mobile robots have arbitrary final position and heading angle. After making path to be followed, the trajectory is designed in such a way to satisfy given constraints such as maximum velocity, maximum acceleration and maximum jerk. Also, convolution method is able to guarantee the trajectory to satisfy given constraints. Since mobile robots are equipped with driving motors as control inputs, ultimately, motor´s specifications are utilized for convolution trajectory generation.
Keywords :
convolution; mobile robots; trajectory control; arbitrary final position; control inputs; convolution method; driving motors; heading angle; maximum acceleration; maximum jerk; maximum velocity; motor specifications; smooth infinitely differentiable trajectory generation; wheeled mobile robot; Acceleration; Angular velocity; Convolution; Mobile robots; Trajectory; Wheels; constraint; convolution; curvature; mobile robot; trajectory generation;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location :
Incheon
Print_ISBN :
978-1-4577-0722-3
DOI :
10.1109/URAI.2011.6145999