移动机器人向航路点的轨迹规划

2015 IEEE International Conference on Industrial Technology (ICIT) Pub Date : 2015-03-17 DOI:10.1109/ICIT.2015.7125154

Jinhong Noh, Jaehyung Park, Haiyun Wang, Jonghun Park, Seongryong Chang, U. Huh

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引用次数: 1

摘要

提出了一种新的航路点跟踪轨迹规划方法。定义了考虑运动约束的航路点方向。它具有平滑性和鲁棒性的优点。仿真结果表明了该方法的有效性。

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Trajectory planning toward the waypoint for mobile robot

This paper presents a novel method to trajectory planning for waypoint tracking. The direction for heading waypoint with considering kinematic constraints has been defined. It has advantages in smoothness and robustness. Simulation shows the validity of the proposed method.

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来源期刊

2015 IEEE International Conference on Industrial Technology (ICIT)

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