Trajectory Tracking Control of Mobile Robot by Time Based Spline Approach

Junichi Miyata, Toshiyuki Murakami, Kouhei Ohnishi

研究成果: Article査読

9 被引用数 (Scopus)

抄録

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.

本文言語English
ページ(範囲)778-783
ページ数6
ジャーナルieej transactions on industry applications
123
7
DOI
出版ステータスPublished - 2003 9 1

ASJC Scopus subject areas

  • 産業および生産工学
  • 電子工学および電気工学

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