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 |
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| Title of host publication | 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (Print) | 9781479978625 |
| DOIs | |
| Publication status | Published - 2015 Sep 8 |
| Event | 10th Asian Control Conference, ASCC 2015 - Kota Kinabalu, Malaysia Duration: 2015 May 31 → 2015 Jun 3 |
Other
| Other | 10th Asian Control Conference, ASCC 2015 |
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| Country | Malaysia |
| City | Kota Kinabalu |
| Period | 15/5/31 → 15/6/3 |
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ASJC Scopus subject areas
- Control and Systems Engineering