Iterative polynomial-based trajectory extension for mobile robot

Kuniaki Kawabata, Liang Ma, Jianru Xue, Sho Yokota, Yasue Mitsukura, Nanning Zheng

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

This paper proposes a trajectory generation method for mobile robot by extending the trajectory segment iteratively. Considering the practical uses of the mobile robot like service purpose in the real world, it requires that the trajectory planning is done adaptively by depending on the situation changes. For that, designated waypoints for future motion are given sequentially from the environment recognition process and thus trajectory generation should be processed in dynamical situation. In this paper, we described an iterative extension of the polynomial-based trajectory by considering the designated waypoint, the continuity with the existing trajectory segment and the stoppage constraint at the end of each trajectory segment. Proposed method provides the next trajectory segment for a certain period by referring to these conditions. Resultantly, iteratively generated trajectory segments connect each other smoothly and organize a single continuous trajectory. Computer simulations with proposed method were conducted and the results were shown. They showed proposed method realizes trajectory generation based on sequential extension of the trajectory segment.

本文言語English
ホスト出版物のタイトルAIM 2015 - 2015 IEEE/ASME International Conference on Advanced Intelligent Mechatronics
出版社Institute of Electrical and Electronics Engineers Inc.
ページ255-260
ページ数6
ISBN(電子版)9781467391078
DOI
出版ステータスPublished - 2015 8 25
イベントIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015 - Busan, Korea, Republic of
継続期間: 2015 7 72015 7 11

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2015-August

Other

OtherIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015
CountryKorea, Republic of
CityBusan
Period15/7/715/7/11

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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