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https://hdl.handle.net/2440/58364
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Type: | Conference paper |
Title: | Time-dependent motion planning for nonholonomic mobile robots |
Author: | Mohamad Hashim, M. Lu, T. |
Citation: | Proceedings of the 9th IFAC Symposium on Robot Control (SYROCO'09), Nagaragawa Convention Center, Gifu, Japan September 9-12, 2009 |
Publisher: | IFAC |
Issue Date: | 2009 |
ISSN: | 1474-6670 |
Conference Name: | IFAC Symposium on Robot Control (9th : 2009 : Gifu, Japan) |
Statement of Responsibility: | Mohd Sani Mohamad Hashim, Tien-Fu Lu |
Abstract: | This paper presents the development of a time-dependent trajectory generation method for nonholonomic mobile robots using a geometry-based approach. In this study, cubic and quintic polynomials have been adapted to obtain a smooth trajectory for a single mobile robot. The generated trajectory is time dependent with the required position, orientation and velocity of the mobile robot taken into account during generation. The presented simulation results demonstrate the effectiveness of this trajectory generation method for a single mobile robot navigating in the environment that contains static obstacles. |
Rights: | Copyright status unknown |
DOI: | 10.3182/20090909-4-JP-2010.00088 |
Description (link): | http://www.syroco2009.org/ |
Published version: | http://dx.doi.org/10.3182/20090909-4-jp-2010.00088 |
Appears in Collections: | Aurora harvest Mechanical Engineering publications |
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