An Approach to Motion Planning of Mobile Robots Considering Dynamic Constraints (CROSBI ID 499232)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Brezak, Mišel ; Petrović, Ivan ; Kitanov, Andrej
engleski
An Approach to Motion Planning of Mobile Robots Considering Dynamic Constraints
In this paper a real-time motion planner for mobile robots with differential drives is proposed. Its main advantages are smooth robot trajectory and relatively low computational complexity. The proposed algorithm produces near time optimal robot motion. It is particularly suitable in cases when desired robot configuration is defined not only with robot pose, but also with its velocity in the desired pose. This is the case, for example, in robot soccer, where robot must kick the ball with desired orientation and velocity.
Mobile robotics; trajectory planning
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Podaci o prilogu
7 pages-x.
2004.
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objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 11th International Power Electronics and Motion Control Conference (EPE-PEMC 2004)
Riga:
Podaci o skupu
11th International Power Electronics and Motion Control Conference (EPE-PEMC 2004)
poster
02.09.2004-04.09.2004
Riga, Latvija