Tracking motion of mobile robot for moving target using NURBS curve

Noriaki Tatematsu, Kouhei Ohnishi

Research output: Contribution to conferencePaper

10 Citations (Scopus)

Abstract

This paper presents a new approach to tracking the moving target with mobile robot. The task is difficult since the mobile robot has nonholonomic constraint. Considering the constraint of motion of the mobile robot, it is thought that planning trajectory which the robot can follow is indispensable for wheeled type mobile robot control. Thus, in this research, the new control method for tracking the moving target based on trajectory planning is proposed. The NURBS Curve is used for trajectory planning. The continuity to second derivative and convex hull which are the characteristics of the NURBS Curve is the the best for trajectory planning of the mobile robot. By this method, higher efficient tracking is realized. The validity of the proposed method is confirmed by simulations.

Original languageEnglish
Pages245-249
Number of pages5
Publication statusPublished - 2003 Dec 1
Event2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings - Maribor, Slovenia
Duration: 2003 Dec 102003 Dec 12

Other

Other2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings
CountrySlovenia
CityMaribor
Period03/12/1003/12/12

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ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Tatematsu, N., & Ohnishi, K. (2003). Tracking motion of mobile robot for moving target using NURBS curve. 245-249. Paper presented at 2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings, Maribor, Slovenia.