Iterative trajectory generation for mobile robot to pass through the waypoints

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

doi:10.1109/ASCC.2015.7244382

Iterative trajectory generation for mobile robot to pass through the waypoints

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

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

1 Citation (Scopus)

Abstract

This paper proposes a trajectory generation method for mobile robots based on trajectory segment extension. The trajectory for mobile robot must be generated by depending on the conditions during the robot traveling. Such conditions to design the trajectory are given when the robot comes around those locations and are not provided before arriving around there. From this point of view, we have started to develop an on-line trajectory generation method based on extending the trajectory segment that is the low-order polynomial curve. We already proposed a trajectory extension approach calculated with sequentially designated waypoints in the absolute time. In this paper, we improved the method by utilizing the relative time expression for extension of the trajectory segment. Simulations with proposed method were done and the results were shown in this paper.

Original language	English
Title of host publication	2015 10th Asian Control Conference
Subtitle of host publication	Emerging Control Techniques for a Sustainable World, ASCC 2015
Editors	Hazlina Selamat, Hafiz Rashidi Haruna Ramli, Ahmad Athif Mohd Faudzi, Ribhan Zafira Abdul Rahman, Asnor Juraiza Ishak, Azura Che Soh, Siti Anom Ahmad
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781479978625
DOIs	https://doi.org/10.1109/ASCC.2015.7244382
Publication status	Published - 2015 Sep 8
Event	10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia Duration: 2015 May 31 → 2015 Jun 3

Publication series

Name	2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015

Other

Other	10th Asian Control Conference, ASCC 2015
Country	Malaysia
City	Kota Kinabalu
Period	15/5/31 → 15/6/3

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/ASCC.2015.7244382

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Cite this

Kawabata, K., Ma, L., Xue, J., Yokota, S., Mitsukura, Y., & Zheng, N. (2015). Iterative trajectory generation for mobile robot to pass through the waypoints. In H. Selamat, H. R. H. Ramli, A. A. M. Faudzi, R. Z. A. Rahman, A. J. Ishak, A. C. Soh, & S. A. Ahmad (Eds.), 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015 [7244382] (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ASCC.2015.7244382

Iterative trajectory generation for mobile robot to pass through the waypoints. / Kawabata, Kuniaki; Ma, Liang; Xue, Jianru; Yokota, Sho; Mitsukura, Yasue; Zheng, Nanning.

2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. ed. / Hazlina Selamat; Hafiz Rashidi Haruna Ramli; Ahmad Athif Mohd Faudzi; Ribhan Zafira Abdul Rahman; Asnor Juraiza Ishak; Azura Che Soh; Siti Anom Ahmad. Institute of Electrical and Electronics Engineers Inc., 2015. 7244382 (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Kawabata, K, Ma, L, Xue, J, Yokota, S, Mitsukura, Y & Zheng, N 2015, Iterative trajectory generation for mobile robot to pass through the waypoints. in H Selamat, HRH Ramli, AAM Faudzi, RZA Rahman, AJ Ishak, AC Soh & SA Ahmad (eds), 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015., 7244382, 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015, Institute of Electrical and Electronics Engineers Inc., 10th Asian Control Conference, ASCC 2015, Kota Kinabalu, Malaysia, 15/5/31. https://doi.org/10.1109/ASCC.2015.7244382

Kawabata K, Ma L, Xue J, Yokota S, Mitsukura Y, Zheng N. Iterative trajectory generation for mobile robot to pass through the waypoints. In Selamat H, Ramli HRH, Faudzi AAM, Rahman RZA, Ishak AJ, Soh AC, Ahmad SA, editors, 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. Institute of Electrical and Electronics Engineers Inc. 2015. 7244382. (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015). https://doi.org/10.1109/ASCC.2015.7244382

Kawabata, Kuniaki ; Ma, Liang ; Xue, Jianru ; Yokota, Sho ; Mitsukura, Yasue ; Zheng, Nanning. / Iterative trajectory generation for mobile robot to pass through the waypoints. 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015. editor / Hazlina Selamat ; Hafiz Rashidi Haruna Ramli ; Ahmad Athif Mohd Faudzi ; Ribhan Zafira Abdul Rahman ; Asnor Juraiza Ishak ; Azura Che Soh ; Siti Anom Ahmad. Institute of Electrical and Electronics Engineers Inc., 2015. (2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015).

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AB - This paper proposes a trajectory generation method for mobile robots based on trajectory segment extension. The trajectory for mobile robot must be generated by depending on the conditions during the robot traveling. Such conditions to design the trajectory are given when the robot comes around those locations and are not provided before arriving around there. From this point of view, we have started to develop an on-line trajectory generation method based on extending the trajectory segment that is the low-order polynomial curve. We already proposed a trajectory extension approach calculated with sequentially designated waypoints in the absolute time. In this paper, we improved the method by utilizing the relative time expression for extension of the trajectory segment. Simulations with proposed method were done and the results were shown in this paper.

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