DocumentCode
713223
Title
Trajectory planning toward the waypoint for mobile robot
Author
Jinhong Noh ; Jaehyung Park ; Haiyun Wang ; Jonghun Park ; Seongryong Chang ; Ukyoul Huh
Author_Institution
Intell. Control Lab., INHA Univ., Incheon, South Korea
fYear
2015
fDate
17-19 March 2015
Firstpage
536
Lastpage
539
Abstract
This paper presents a novel method to trajectory planning for waypoint tracking. The direction for heading waypoint with considering kinematic constraints has been defined. It has advantages in smoothness and robustness. Simulation shows the validity of the proposed method.
Keywords
mobile robots; robot kinematics; robust control; simulation; trajectory control; kinematic constraints; mobile robot; robustness; simulation; trajectory planning; waypoint tracking; Acceleration; Angular velocity; Kinematics; Mobile robots; Planning; Trajectory; mobile robot; trajectory planning; waypoint;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Technology (ICIT), 2015 IEEE International Conference on
Conference_Location
Seville
Type
conf
DOI
10.1109/ICIT.2015.7125154
Filename
7125154
Link To Document