Trajectory generation of wheeled mobile robot using convolution method
- Title
- Trajectory generation of wheeled mobile robot using convolution method
- Author
- 최영진
- Keywords
- constraint; convolution; curvature; mobile robot; trajectory generation
- Issue Date
- 2011-11
- Publisher
- IEEE
- Citation
- URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, article no. 6145999, Page. 371-374
- Abstract
- This paper suggests a trajectory generation method using convolution operation for wheeled mobile robots. To be smooth (infinitely differentiable) trajectory generation for wheeled mobile robot, a curvature is utilized in this paper. It makes possible that mobile robots have arbitrary final position and heading angle. After making path to be followed, the trajectory is designed in such a way to satisfy given constraints such as maximum velocity, maximum acceleration and maximum jerk. Also, convolution method is able to guarantee the trajectory to satisfy given constraints. Since mobile robots are equipped with driving motors as control inputs, ultimately, motor's specifications are utilized for convolution trajectory generation. © 2011 IEEE.
- URI
- https://ieeexplore.ieee.org/document/6145999/https://repository.hanyang.ac.kr/handle/20.500.11754/180900
- DOI
- 10.1109/URAI.2011.6145999
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
- Files in This Item:
There are no files associated with this item.
- Export
- RIS (EndNote)
- XLS (Excel)
- XML