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 | |
| Publication status | Published - 2008 |
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Keywords
- Fluid model
- Mobile robot
- Path planning
- Spline approach
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Computer Networks and Communications
- Physics and Astronomy(all)
- Signal Processing
- Applied Mathematics
Cite this
Trajectory tracking control of mobile robot by fluid model. / Miyata, Junichi; Murakami, Toshiyuki.
In: Electronics and Communications in Japan, Part II: Electronics (English translation of Denshi Tsushin Gakkai Ronbunshi), Vol. 91, No. 5, 2008, p. 41-48.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Trajectory tracking control of mobile robot by fluid model
AU - Miyata, Junichi
AU - Murakami, Toshiyuki
PY - 2008
Y1 - 2008
N2 - 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.
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.
KW - Fluid model
KW - Mobile robot
KW - Path planning
KW - Spline approach
UR - http://www.scopus.com/inward/record.url?scp=62249099863&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=62249099863&partnerID=8YFLogxK
U2 - 10.1002/ecj.10114
DO - 10.1002/ecj.10114
M3 - Article
AN - SCOPUS:62249099863
VL - 91
SP - 41
EP - 48
JO - Electronics and Communications in Japan, Part II: Electronics (English translation of Denshi Tsushin Gakkai Ronbunshi)
JF - Electronics and Communications in Japan, Part II: Electronics (English translation of Denshi Tsushin Gakkai Ronbunshi)
SN - 8756-663X
IS - 5
ER -