Iterative polynomial-based trajectory extension for mobile robot

Kuniaki Kawabata, Liang Ma, Jianru Xue, Sho Yokota, Yasue Mitsukura, Nanning Zheng

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

This paper proposes a trajectory generation method for mobile robot by extending the trajectory segment iteratively. Considering the practical uses of the mobile robot like service purpose in the real world, it requires that the trajectory planning is done adaptively by depending on the situation changes. For that, designated waypoints for future motion are given sequentially from the environment recognition process and thus trajectory generation should be processed in dynamical situation. In this paper, we described an iterative extension of the polynomial-based trajectory by considering the designated waypoint, the continuity with the existing trajectory segment and the stoppage constraint at the end of each trajectory segment. Proposed method provides the next trajectory segment for a certain period by referring to these conditions. Resultantly, iteratively generated trajectory segments connect each other smoothly and organize a single continuous trajectory. Computer simulations with proposed method were conducted and the results were shown. They showed proposed method realizes trajectory generation based on sequential extension of the trajectory segment.

Original languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages255-260
Number of pages6
Volume2015-August
ISBN (Print)9781467391078
DOIs
Publication statusPublished - 2015 Aug 25
EventIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015 - Busan, Korea, Republic of
Duration: 2015 Jul 72015 Jul 11

Other

OtherIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015
CountryKorea, Republic of
CityBusan
Period15/7/715/7/11

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ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Kawabata, K., Ma, L., Xue, J., Yokota, S., Mitsukura, Y., & Zheng, N. (2015). Iterative polynomial-based trajectory extension for mobile robot. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (Vol. 2015-August, pp. 255-260). [7222541] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2015.7222541