Trajectory tracking control of mobile robot by time-based spline approach

Junichi Miyata, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

A mobile robot must move without unacceptable rapid motion. To address this issue, we propose a preview controller using the time-based spline approach. With this approach, it is also important to plan an adequate trajectory. Here an approach to trajectory planning which has the trajectory determination strategy via a virtual manipulator is proposed. Numerical and experimental results are shown to confirm the proposed algorithm.

Original languageEnglish
Pages (from-to)65-71
Number of pages7
JournalElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
Volume151
Issue number4
DOIs
Publication statusPublished - 2005 Jun

Fingerprint

Splines
Mobile robots
Trajectories
Manipulators
Planning
Controllers

Keywords

  • Mobile robot
  • Robotics
  • Time-based spline approach
  • Tracking control

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Trajectory tracking control of mobile robot by time-based spline approach. / Miyata, Junichi; Murakami, Toshiyuki; Ohnishi, Kouhei.

In: Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi), Vol. 151, No. 4, 06.2005, p. 65-71.

Research output: Contribution to journalArticle

@article{b04344725c53482798d0646e6af44cb9,
title = "Trajectory tracking control of mobile robot by time-based spline approach",
abstract = "A mobile robot must move without unacceptable rapid motion. To address this issue, we propose a preview controller using the time-based spline approach. With this approach, it is also important to plan an adequate trajectory. Here an approach to trajectory planning which has the trajectory determination strategy via a virtual manipulator is proposed. Numerical and experimental results are shown to confirm the proposed algorithm.",
keywords = "Mobile robot, Robotics, Time-based spline approach, Tracking control",
author = "Junichi Miyata and Toshiyuki Murakami and Kouhei Ohnishi",
year = "2005",
month = "6",
doi = "10.1002/eej.10349",
language = "English",
volume = "151",
pages = "65--71",
journal = "Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)",
issn = "0424-7760",
publisher = "John Wiley and Sons Inc.",
number = "4",

}

TY - JOUR

T1 - Trajectory tracking control of mobile robot by time-based spline approach

AU - Miyata, Junichi

AU - Murakami, Toshiyuki

AU - Ohnishi, Kouhei

PY - 2005/6

Y1 - 2005/6

N2 - A mobile robot must move without unacceptable rapid motion. To address this issue, we propose a preview controller using the time-based spline approach. With this approach, it is also important to plan an adequate trajectory. Here an approach to trajectory planning which has the trajectory determination strategy via a virtual manipulator is proposed. Numerical and experimental results are shown to confirm the proposed algorithm.

AB - A mobile robot must move without unacceptable rapid motion. To address this issue, we propose a preview controller using the time-based spline approach. With this approach, it is also important to plan an adequate trajectory. Here an approach to trajectory planning which has the trajectory determination strategy via a virtual manipulator is proposed. Numerical and experimental results are shown to confirm the proposed algorithm.

KW - Mobile robot

KW - Robotics

KW - Time-based spline approach

KW - Tracking control

UR - http://www.scopus.com/inward/record.url?scp=18844410067&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=18844410067&partnerID=8YFLogxK

U2 - 10.1002/eej.10349

DO - 10.1002/eej.10349

M3 - Article

AN - SCOPUS:18844410067

VL - 151

SP - 65

EP - 71

JO - Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)

JF - Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)

SN - 0424-7760

IS - 4

ER -