Naslov
An Approach to Motion Planning of Mobile Robots Considering Dynamic Constraints

Autori
Brezak, Mišel ; Petrović, Ivan ; Kitanov, Andrej

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the 11th International Power Electronics and Motion Control Conference (EPE-PEMC 2004) / - Riga, 2004

Skup
11th International Power Electronics and Motion Control Conference (EPE-PEMC 2004)

Mjesto i datum
Riga, Latvija, 02.09.2004. - 04.09.2004

Vrsta sudjelovanja
Poster

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Mobile robotics; trajectory planning

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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