Iterative trajectory generation for mobile robot to pass through the waypoints

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 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 languageEnglish
Title of host publication2015 10th Asian Control Conference
Subtitle of host publicationEmerging Control Techniques for a Sustainable World, ASCC 2015
EditorsHazlina Selamat, Hafiz Rashidi Haruna Ramli, Ahmad Athif Mohd Faudzi, Ribhan Zafira Abdul Rahman, Asnor Juraiza Ishak, Azura Che Soh, Siti Anom Ahmad
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781479978625
DOIs
Publication statusPublished - 2015 Sep 8
Event10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia
Duration: 2015 May 312015 Jun 3

Publication series

Name2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015

Other

Other10th Asian Control Conference, ASCC 2015
CountryMalaysia
CityKota Kinabalu
Period15/5/3115/6/3

ASJC Scopus subject areas

  • Control and Systems Engineering

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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