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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Hashim, M.S.M. Tien-Fu Lu |
| Copyright Year | 2013 |
| Description | Author affiliation: Sch. of Mechatron. Eng., Univ. Malaysia Perlis, Arau, Malaysia (Hashim, M.S.M.) || Sch. of Mech. Eng., Univ. of Adelaide, Adelaide, SA, Australia (Tien-Fu Lu) |
| Abstract | This paper presents a trajectory planning and realtime control of a nonholonomic mobile robot in a static environment. The trajectory is generated based on a geometric approach for a nonholonomic mobile robot. The trajectory is time-critical which the mobile robot is expected to reach the final point at the specified travelling time. This approach may have a significant ramification on the task-based applications, which require the robot to pass through all the control points in a specified time such as a large area patrol and goods delivery. In order to have a remote control on the mobile robot, it was equipped with a wireless communication. The algorithm is then being tested in the static environment and the results from the experimental works are compared with the results from the simulation works. The mobile robot that was used in the experimental works was adapted from a car-like robot. |
| Starting Page | 836 |
| Ending Page | 841 |
| File Size | 475789 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781467359672 |
| e-ISBN | 9781467359689 |
| DOI | 10.1109/BEIAC.2013.6560253 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2013-04-07 |
| Publisher Place | Malaysia |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Geometric approach Nonholonomic mobile robot Trajectory planning Robot kinematics Obstacle avoidance Robot sensing systems Trajectory Planning Mobile robots Car-like robot Collision avoidance |
| Content Type | Text |
| Resource Type | Article |
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