Extremal smooth trajectory planning of a mobile robot

Aydin S., Temeltas H.

Conference on Mobile Robots XVI, Massachusetts, Amerika Birleşik Devletleri, 29 - 30 Ekim 2001, cilt.4573, ss.207-218 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası: 4573
  • Doi Numarası: 10.1117/12.457452
  • Basıldığı Şehir: Massachusetts
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayıları: ss.207-218
  • İstanbul Teknik Üniversitesi Adresli: Hayır

Özet

This paper represents a novel smooth trajectory planning algorithm which uses the natural behavior model of a mobile robot (MR). The shortest path in the free configuration space is obtained by using the visibility graph method. It is modified according to dynamic constraints which are implicitly included in natural behavior of the mobile robot. The modified path becomes a smooth, easily tractable time-optimal trajectory. For every points of it, translating/steering velocities and accelerations and reaching times are known. It is applicable to the real time dynamic configuration spaces, because of simplicity and low computational time.