Trajectory Tracking Control of Mobile Robot by Time Based Spline Approach

Junichi Miyata; Toshiyuki Murakami; Kouhei Ohnishi

doi:10.1541/ieejias.123.778

Trajectory Tracking Control of Mobile Robot by Time Based Spline Approach

Junichi Miyata, Toshiyuki Murakami, Kouhei Ohnishi

Department of System Design Engineering

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

9 Citations (Scopus)

Abstract

The mobile robot must move without unacceptable rapid motiou. To address this issue, in this paper, a preview controller with time based spline approach is proposed. Using the time based spline approach, it is also important to plan the adequate trajectory. Here an approach to trajectory planning which has the trajectory determination strategy by virtual manipulator is proposed. Numerical and experimental results are shown to confirm the; proposed algorithm.

Original language	English
Pages (from-to)	778-783
Number of pages	6
Journal	ieej transactions on industry applications
Volume	123
Issue number	7
DOIs	https://doi.org/10.1541/ieejias.123.778
Publication status	Published - 2003 Sept 1

Keywords

mobile robot
robotics
time base spline approach
tracking control

ASJC Scopus subject areas

Industrial and Manufacturing Engineering
Electrical and Electronic Engineering

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10.1541/ieejias.123.778

Cite this

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abstract = "The mobile robot must move without unacceptable rapid motiou. To address this issue, in this paper, a preview controller with time based spline approach is proposed. Using the time based spline approach, it is also important to plan the adequate trajectory. Here an approach to trajectory planning which has the trajectory determination strategy by virtual manipulator is proposed. Numerical and experimental results are shown to confirm the; proposed algorithm.",

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AB - The mobile robot must move without unacceptable rapid motiou. To address this issue, in this paper, a preview controller with time based spline approach is proposed. Using the time based spline approach, it is also important to plan the adequate trajectory. Here an approach to trajectory planning which has the trajectory determination strategy by virtual manipulator is proposed. Numerical and experimental results are shown to confirm the; proposed algorithm.

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KW - tracking control

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Trajectory Tracking Control of Mobile Robot by Time Based Spline Approach

Abstract

Keywords

ASJC Scopus subject areas

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