TY - GEN
T1 - Iterative trajectory generation for mobile robot to pass through the waypoints
AU - Kawabata, Kuniaki
AU - Ma, Liang
AU - Xue, Jianru
AU - Yokota, Sho
AU - Mitsukura, Yasue
AU - Zheng, Nanning
PY - 2015/9/8
Y1 - 2015/9/8
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=84957701257&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84957701257&partnerID=8YFLogxK
U2 - 10.1109/ASCC.2015.7244382
DO - 10.1109/ASCC.2015.7244382
M3 - Conference contribution
AN - SCOPUS:84957701257
T3 - 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015
BT - 2015 10th Asian Control Conference
A2 - Selamat, Hazlina
A2 - Ramli, Hafiz Rashidi Haruna
A2 - Faudzi, Ahmad Athif Mohd
A2 - Rahman, Ribhan Zafira Abdul
A2 - Ishak, Asnor Juraiza
A2 - Soh, Azura Che
A2 - Ahmad, Siti Anom
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 10th Asian Control Conference, ASCC 2015
Y2 - 31 May 2015 through 3 June 2015
ER -