Trajectory Tracking Control of Mobile Robot by Time Based Spline Approach

Junichi Miyata, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to journalArticle

7 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 languageEnglish
Pages (from-to)778-783
Number of pages6
JournalIEEJ Transactions on Industry Applications
Volume123
Issue number7
DOIs
Publication statusPublished - 2003 Sep 1

Fingerprint

Splines
Mobile robots
Trajectories
Manipulators
Planning
Controllers

Keywords

  • mobile robot
  • robotics
  • time base spline approach
  • tracking control

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

Cite this

Trajectory Tracking Control of Mobile Robot by Time Based Spline Approach. / Miyata, Junichi; Murakami, Toshiyuki; Ohnishi, Kouhei.

In: IEEJ Transactions on Industry Applications, Vol. 123, No. 7, 01.09.2003, p. 778-783.

Research output: Contribution to journalArticle

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