Earticle

초록

영어

This paper presents a smooth path planning method considering physical limits for two-wheeled mobile robots (TMRs). A Bezier curve is utilized to make an S-curve path. A convolution operator is used to generate the center velocity trajectory to travel the distance of the planned path while considering the physical limits. The trajectory gained through convolution does not consider the direction angle of the TMR, so a transformational method for a center velocity trajectory following the planned path as a function of time of parameter for the Bezier curve is presented. Finally, the joint space velocity is computed to drive the TMR from the center velocity. The effectiveness of the proposed method was performed through numerical simulations. This algorithm can be used for path planning to optimize travel time and energy consumption.

목차

Abstract
 1 Introduction
 2. Bezier Curve based Path Planning
 3. Convolution based Trajectory Planning Following Bezier Curve
 4. Simulation Results
 5. Conclusions
 Acknowledgements
 References

키워드

저자

• Gil Jin Yang [ Department of Electrical and Information Engineering Seoul National University of Science and Technology, Seoul, South Korea ]
• Byoung Wook Choi [ Department of Electrical and Information Engineering Seoul National University of Science and Technology, Seoul, South Korea ] Corresponding author

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605