scholarly journals Continuous-Curvature Trajectory Planning

2021 ◽  
pp. 9-23
Author(s):  
Jörg Roth
Keyword(s):  
Mobile Robots ◽  
Trajectory Planning ◽  
Steering Angle ◽  
Continuous Curvature ◽  
Straight Lines ◽  
Zero Time ◽  
Geometric Nature

Continuous‐curvature paths play an important role in the area of driving robots: as vehicles usually cannot changethe steering angle in zero‐time, real trajectories must not have discontinuities in the curvature profile. Typical continuous‐curvature paths are thus built of straight lines, arcs and clothoids. Due to the geometric nature of clothoids, some questions in the area of trajectory planning are difficult the answer – usually we need approximations here. In this paper we describe a full approach for continuous‐curvature trajectory planning for mobile robots – it covers a maneuver‐based planning with Viterbi optimization and geometric approximations required to construct the respective clothoid trajectories.

scholarly journals Trajectory planning method of mobile piezorobot

2009 ◽  
Vol 50 ◽  
Author(s):  
Ramutis Bansevičius ◽  
Asta Drukteinienė ◽  
Genadijus Kulvietis
Keyword(s):  
Mathematical Model ◽  
Mobile Robots ◽  
Trajectory Planning ◽  
Simultaneous Equations ◽  
Planning Method ◽  
Experimental Results

This paper presents analysis of trajectory planningmethods for mobile robots and new trajectory planning method research for mobile piezorobots. Here are deduced motional simultaneous equations for this kind of robots that describe point-to-pointmotion by given function. Preliminary experimental results prove the feasibility of proposed mathematical model.

Representation of interactions between mobile robots for trajectory planning

1999 ◽  
Vol 7 (6) ◽  
pp. 753-761 ◽  
Author(s):  
Christian Zanardi ◽  
Jean-Yves Herve ◽  
Paul Cohen
Keyword(s):  
Mobile Robots ◽  
Trajectory Planning

scholarly journals Simultaneous convergence of position and orientation of wheeled mobile robots using trajectory planning and robust controllers

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141875457 ◽  
Author(s):  
Héctor M Becerra ◽  
J Armando Colunga ◽  
Jose Guadalupe Romero
Keyword(s):  
Mobile Robots ◽  
Trajectory Planning ◽  
Sliding Mode ◽  
Orientation Angle ◽  
Robust Tracking ◽  
Robust Controllers ◽  
Wheeled Mobile Robots ◽  
Control Approach ◽  
Position And Orientation ◽  
Robot Position

This article is devoted to the design of robust position-tracking controllers for a perturbed wheeled mobile robot. We address the final objective of pose-regulation in a predefined time, which means that the robot position and orientation must reach desired final values simultaneously in a user-defined time. To do so, we propose the robust tracking of adequate trajectories for position coordinates, enforcing that the robot’s heading evolves tangent to the position trajectory and consequently the robot reaches a desired orientation. The robust tracking is achieved by a proportional–integral action or by a super-twisting sliding mode control. The main contribution of this article is a kinematic control approach for pose-regulation of wheeled mobile robots in which the orientation angle is not directly controlled in the closed-loop, which simplifies the structure of the control system with respect to existing approaches. An offline trajectory planning method based on parabolic and cubic curves is proposed and integrated with robust controllers to achieve good accuracy in the final values of position and orientation. The novelty in the trajectory planning is the generation of a set of candidate trajectories and the selection of one of them that favors the correction of the robot’s final orientation. Realistic simulations and experiments using a real robot show the good performance of the proposed scheme even in the presence of strong disturbances.

Trajectory Planning Method for Mobile Robots

1990 ◽  
Vol 23 (3) ◽  
pp. 487-492
Author(s):  
P. Campoy ◽  
G.F. Bobadilla ◽  
R. Aracil ◽  
M.A. Salichs ◽  
L. Moreno
Keyword(s):  
Mobile Robots ◽  
Trajectory Planning ◽  
Planning Method
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