Trajectory tracking control of mobile robot by fluid model

Junichi Miyata, Toshiyuki Murakami

Research output: Contribution to journalArticle

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 languageEnglish
Pages (from-to)41-48
Number of pages8
JournalElectronics and Communications in Japan, Part II: Electronics (English translation of Denshi Tsushin Gakkai Ronbunshi)
Volume91
Issue number5
DOIs
Publication statusPublished - 2008

Fingerprint

Trajectory Tracking
Fluid Model
Tracking Control
robots
Mobile Robot
Mobile robots
Trajectories
trajectories
Splines
Spline
splines
Fluids
fluids
Path Planning
trajectory planning
Motion planning
Motion
commands
Industrial Robot
Path

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

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