• DocumentCode
    3619035
  • Title

    Smooth path planning and control for mobile robots

  • Author

    Shangming Wei;M. Zefran

  • Author_Institution
    Dept. of Electr. & Comput. Eng., Illinois Univ., Chicago, IL, USA
  • fYear
    2005
  • fDate
    6/27/1905 12:00:00 AM
  • Firstpage
    894
  • Lastpage
    899
  • Abstract
    In this article a new complete sensor based path planning algorithm for autonomous mobile robot is presented. The algorithm guarantees global convergence to the target while at the same time the generated path is smooth, a key requirement for implementation on real robots. The completeness of the proposed scheme is proved using techniques from hybrid control.
  • Keywords
    "Path planning","Robot control","Mobile robots","Robot sensing systems","Robot kinematics","Convergence","Service robots","Safety","Actuators","Switches"
  • Publisher
    ieee
  • Conference_Titel
    Networking, Sensing and Control, 2005. Proceedings. 2005 IEEE
  • Print_ISBN
    0-7803-8812-7
  • Type

    conf

  • DOI
    10.1109/ICNSC.2005.1461311
  • Filename
    1461311
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3619035