Tracking motion of mobile robot for moving target using NURBS curve

Author

Tatematsu, Noriaki ; Ohnishi, Kouhei

Author_Institution

Deaprtment of Syst. Design Eng., Keio Univ., Yokohama, Japan

Volume

1

fYear

2003

fDate

10-12 Dec. 2003

Firstpage

245

Abstract

This paper presents a new approach to tracking the moving target with mobile robot. The task is difficult since the mobile robot has nonholonomic constraint. Considering the constraint of motion of the mobile robot, it is thought that planning trajectory which the robot can follow is indispensable for wheeled type mobile robot control. Thus, in this research, the new control method for tracking the moving target based on trajectory planning is proposed. The NURBS curve is used for trajectory planning. The continuity to second derivative and convex hull which are the characteristics of the NURBS curve is the best for trajectory planning of the mobile robot. By this method, higher efficient tracking is realized. The validity of the proposed method is confirmed by simulations.

Keywords

mobile robots; position control; splines (mathematics); target tracking; NURBS curve; mobile robot; motion tracking; moving target; nonholonomic constraint; trajectory planning; wheeled type mobile robot control; Design engineering; Mobile robots; Motion planning; Robot control; Spline; Surface reconstruction; Surface topography; Systems engineering and theory; Target tracking; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 2003 IEEE International Conference on

Print_ISBN

0-7803-7852-0

Type

conf

DOI

10.1109/ICIT.2003.1290283

Filename

1290283