Extremal smooth trajectory planning of a mobile robot

Serkan Aydin*, Hakan Temeltaş

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2 Atıf (Scopus)

Özet

This paper represents a novel smooth trajectory planning algorithm which uses the natural behavior model of a mobile robot (MR). The shortest path in the free configuration space is obtained by using the visibility graph method. It is modified according to dynamic constraints which are implicitly included in natural behavior of the mobile robot. The modified path becomes a smooth, easily tractable time-optimal trajectory. For every points of it, translating/steering velocities and accelerations and reaching times are known. It is applicable to the real time dynamic configuration spaces, because of simplicity and low computational time.

Orijinal dilİngilizce
Sayfa (başlangıç-bitiş)207-218
Sayfa sayısı12
DergiProceedings of SPIE - The International Society for Optical Engineering
Hacim4573
DOI'lar
Yayın durumuYayınlandı - 2001
EtkinlikMobile Robots XVI - Newton, MA, United States
Süre: 29 Eki 200130 Eki 2001

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