Tracking motion of mobile robot for moving target using NURBS curve

Noriaki Tatematsu, Kouhei Ohnishi

研究成果: Paper査読

10 被引用数 (Scopus)

抄録

This paper presents a new approach to tracking the moving target with mobile robot. The task is difficult since the mobile robot has nonholonomic constraint. Considering the constraint of motion of the mobile robot, it is thought that planning trajectory which the robot can follow is indispensable for wheeled type mobile robot control. Thus, in this research, the new control method for tracking the moving target based on trajectory planning is proposed. The NURBS Curve is used for trajectory planning. The continuity to second derivative and convex hull which are the characteristics of the NURBS Curve is the the best for trajectory planning of the mobile robot. By this method, higher efficient tracking is realized. The validity of the proposed method is confirmed by simulations.

本文言語English
ページ245-249
ページ数5
出版ステータスPublished - 2003 12 1
イベント2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings - Maribor, Slovenia
継続期間: 2003 12 102003 12 12

Other

Other2003 IEEE International Conference on Industrial Technology, ICIT - Proceedings
CountrySlovenia
CityMaribor
Period03/12/1003/12/12

ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

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