Trajectory tracking control of mobile robot by fluid model

Junichi Miyata; Toshiyuki Murakami

doi:10.1002/ecj.10114

Trajectory tracking control of mobile robot by fluid model

Junichi Miyata, Toshiyuki Murakami

Department of System Design Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

This paper describes a fluid model-based path planning of mobile robot. In previous research, the authors proposed TBSA (Time-Based Spline Approach) for smooth motion of industrial robots. The TBSA is a powerful method in industrial applications, but the future position and velocity commands must be known to use it. In the general applications of repeat motion, this assumption is acceptable. In the path planning of a mobile robot, however, the future position and velocity commands are unknown. To address the above issue, a strategy to generate the path of a mobile robot based on the fluid model is proposed in this paper. The combination of the TBSA and the generated path by the fluid model brings a smooth motion of mobile robots.

Original language	English
Pages (from-to)	41-48
Number of pages	8
Journal	Electronics and Communications in Japan, Part II: Electronics (English translation of Denshi Tsushin Gakkai Ronbunshi)
Volume	91
Issue number	5
DOIs	https://doi.org/10.1002/ecj.10114
Publication status	Published - 2008 Dec 1

Keywords

Fluid model
Mobile robot
Path planning
Spline approach

ASJC Scopus subject areas

Physics and Astronomy(all)
Computer Networks and Communications
Electrical and Electronic Engineering

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10.1002/ecj.10114

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AB - This paper describes a fluid model-based path planning of mobile robot. In previous research, the authors proposed TBSA (Time-Based Spline Approach) for smooth motion of industrial robots. The TBSA is a powerful method in industrial applications, but the future position and velocity commands must be known to use it. In the general applications of repeat motion, this assumption is acceptable. In the path planning of a mobile robot, however, the future position and velocity commands are unknown. To address the above issue, a strategy to generate the path of a mobile robot based on the fluid model is proposed in this paper. The combination of the TBSA and the generated path by the fluid model brings a smooth motion of mobile robots.

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Trajectory tracking control of mobile robot by fluid model

Abstract

Keywords

ASJC Scopus subject areas

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