Trajectory tracking control of mobile robot by fluid model

Junichi Miyata, Toshiyuki Murakami

研究成果: Article査読

1 被引用数 (Scopus)

抄録

This paper describes a fluid model-based path planning of mobile robot. In previous research, the authors proposed TBSA (Time-Based Spline Approach) for smooth motion of industrial robots. The TBSA is a powerful method in industrial applications, but the future position and velocity commands must be known to use it. In the general applications of repeat motion, this assumption is acceptable. In the path planning of a mobile robot, however, the future position and velocity commands are unknown. To address the above issue, a strategy to generate the path of a mobile robot based on the fluid model is proposed in this paper. The combination of the TBSA and the generated path by the fluid model brings a smooth motion of mobile robots.

本文言語English
ページ(範囲)41-48
ページ数8
ジャーナルElectronics and Communications in Japan, Part II: Electronics (English translation of Denshi Tsushin Gakkai Ronbunshi)
91
5
DOI
出版ステータスPublished - 2008

ASJC Scopus subject areas

  • 物理学および天文学一般
  • コンピュータ ネットワークおよび通信
  • 電子工学および電気工学

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