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 1

Keywords

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

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Electrical and Electronic Engineering

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