Trajectory tracking control of mobile robot by time-based spline approach

Junichi Miyata, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Article査読

2 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)65-71
ページ数7
ジャーナルElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
151
4
DOI
出版ステータスPublished - 2005 6月 1

ASJC Scopus subject areas

  • エネルギー工学および電力技術
  • 電子工学および電気工学

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