Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 최영진 | - |
dc.date.accessioned | 2023-05-19T04:54:56Z | - |
dc.date.available | 2023-05-19T04:54:56Z | - |
dc.date.issued | 2011-11 | - |
dc.identifier.citation | URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, article no. 6145999, Page. 371-374 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/6145999/ | en_US |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/180900 | - |
dc.description.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. | - |
dc.description.sponsorship | This work was supported in part by the Mid-career Researcher Program through NRF grant funded by the MEST (No. 2008-0061778), and in part supported by the Ministry of Knowledge Economy (MKE) and Korea Institute for Advancement in Technology (KIAT) through the Workforce Development Program in Strategic Technology, and in part by the MKE under the National Robotics Research Center for Autonomous Navigation Technology support program supervised by the National IT Industry Promotion Agency (NIPA), Republic of Korea. | - |
dc.language | en | - |
dc.publisher | IEEE | - |
dc.subject | constraint | - |
dc.subject | convolution | - |
dc.subject | curvature | - |
dc.subject | mobile robot | - |
dc.subject | trajectory generation | - |
dc.title | Trajectory generation of wheeled mobile robot using convolution method | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/URAI.2011.6145999 | - |
dc.relation.page | 371-374 | - |
dc.relation.journal | URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence | - |
dc.contributor.googleauthor | Kim, Junghoon | - |
dc.contributor.googleauthor | Choi, Youngjin | - |
dc.sector.campus | E | - |
dc.sector.daehak | 공학대학 | - |
dc.sector.department | 로봇공학과 | - |
dc.identifier.pid | cyj | - |
dc.identifier.article | 6145999 | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.