Trajectory Tracking Control of Mobile Robot by Time Based Spline Approach

Junichi Miyata, Toshiyuki Murakami, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)


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.

Original languageEnglish
Pages (from-to)778-783
Number of pages6
Journalieej transactions on industry applications
Issue number7
Publication statusPublished - 2003 Sept 1


  • mobile robot
  • robotics
  • time base spline approach
  • tracking control

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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