Extremal smooth trajectory planning of a mobile robot

Serkan Aydin; Hakan Temeltas

doi:10.1117/12.457452

18 February 2002 Extremal smooth trajectory planning of a mobile robot

Serkan Aydin, Hakan Temeltas

Proceedings Volume 4573, Mobile Robots XVI; (2002) https://doi.org/10.1117/12.457452
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

This paper represents a novel smooth trajectory planning algorithm which uses the natural behavior model of a mobile robot (MR). The shortest path in the free configuration space is obtained by using the visibility graph method. It is modified according to dynamic constraints which are implicitly included in the natural behavior of the mobile robot. The modified path becomes a smooth, easily tractable time-optimal trajectory. For every points of it, translating/steering velocities and accelerations and reaching times are known. It is applicable to the real-time dynamic configuration spaces, because of simplicity and low computational time.

Citation Download Citation

Serkan Aydin and Hakan Temeltas "Extremal smooth trajectory planning of a mobile robot", Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); https://doi.org/10.1117/12.457452

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