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
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;
Conference_Titel :
Industrial Technology (ICIT), 2015 IEEE International Conference on
Conference_Location :
Seville
DOI :
10.1109/ICIT.2015.7125154
