Extremal smooth trajectory planning of a mobile robot

Serkan Aydin; Hakan Temeltaş

doi:10.1117/12.457452

Extremal smooth trajectory planning of a mobile robot

Serkan Aydin^*
, Hakan Temeltaş

^*Bu çalışma için yazışmadan sorumlu yazar

Kontrol ve Otomasyon Mühendisliği Bölümü

Istanbul Technical University

Araştırma sonucu: Dergiye katkı › Konferans makalesi › bilirkişi

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 dil	İngilizce
Sayfa (başlangıç-bitiş)	207-218
Sayfa sayısı	12
Dergi	Proceedings of SPIE - The International Society for Optical Engineering
Hacim	4573
DOI'lar	https://doi.org/10.1117/12.457452
Yayın durumu	Yayınlandı - 2001
Etkinlik	Mobile Robots XVI - Newton, MA, United States Süre: 29 Eki 2001 → 30 Eki 2001

Belgeye Erişim

10.1117/12.457452

Diğer Dosyalar ve Linkler

Link to publication in Scopus

Alıntı Yap

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title = "Extremal smooth trajectory planning of a mobile robot",

abstract = "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.",

keywords = "Mobile robot, Obstacle avoidance, Path planning, Time-optimal path, Visibility graph method",

author = "Serkan Aydin and Hakan Temelta{\c s}",

year = "2001",

doi = "10.1117/12.457452",

language = "English",

volume = "4573",

pages = "207--218",

journal = "Proceedings of SPIE - The International Society for Optical Engineering",

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publisher = "SPIE",

note = "Mobile Robots XVI ; Conference date: 29-10-2001 Through 30-10-2001",

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TY - JOUR

T1 - Extremal smooth trajectory planning of a mobile robot

AU - Aydin, Serkan

AU - Temeltaş, Hakan

PY - 2001

Y1 - 2001

N2 - 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.

AB - 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.

KW - Mobile robot

KW - Obstacle avoidance

KW - Path planning

KW - Time-optimal path

KW - Visibility graph method

UR - https://www.scopus.com/pages/publications/0035766124

U2 - 10.1117/12.457452

DO - 10.1117/12.457452

M3 - Conference article

AN - SCOPUS:0035766124

SN - 0277-786X

VL - 4573

SP - 207

EP - 218

JO - Proceedings of SPIE - The International Society for Optical Engineering

JF - Proceedings of SPIE - The International Society for Optical Engineering

T2 - Mobile Robots XVI

Y2 - 29 October 2001 through 30 October 2001

ER -

Extremal smooth trajectory planning of a mobile robot

Özet

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Diğer Dosyalar ve Linkler

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