Trajectory tracking control of mobile robot by time-based spline approach
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 determina...
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Published in | Electrical engineering in Japan Vol. 151; no. 4; pp. 65 - 71 |
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Main Authors | , , |
Format | Journal Article |
Language | English |
Published |
Hoboken
Wiley Subscription Services, Inc., A Wiley Company
01.06.2005
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Subjects | |
Online Access | Get full text |
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Summary: | 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. © 2005 Wiley Periodicals, Inc. Electr Eng Jpn, 151(4): 65–71, 2005; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.10349 |
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Bibliography: | ArticleID:EEJ10349 istex:B3FB5033FDEB28A78C21F8B856FC505B132E5A6F ark:/67375/WNG-KVNNLZ07-P ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 23 |
ISSN: | 0424-7760 1520-6416 |
DOI: | 10.1002/eej.10349 |