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

Junichi Miyata; Toshiyuki Murakami; Kouhei Ohnishi

doi:10.1002/eej.10349

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

Junichi Miyata, Toshiyuki Murakami, Kouhei Ohnishi

Department of System Design Engineering

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

Abstract

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.

Original language	English
Pages (from-to)	65-71
Number of pages	7
Journal	Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
Volume	151
Issue number	4
DOIs	https://doi.org/10.1002/eej.10349
Publication status	Published - 2005 Jun

Keywords

Mobile robot
Robotics
Time-based spline approach
Tracking control

ASJC Scopus subject areas

Energy Engineering and Power Technology
Electrical and Electronic Engineering

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10.1002/eej.10349

Cite this

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abstract = "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.",

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AU - Murakami, Toshiyuki

AU - Ohnishi, Kouhei

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AB - 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.

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KW - Time-based spline approach

KW - Tracking control

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

Abstract

Keywords

ASJC Scopus subject areas

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