DocumentCode
1421646
Title
Motion planning on Mobile Robots using Differential Flatness
Author
Veslin, E.Y. ; Slama, J. ; Dutra, M.S. ; Lengerke, O.
Author_Institution
Univ. de Boyaca, Tunja, Colombia
Volume
9
Issue
7
fYear
2011
Firstpage
1006
Lastpage
1011
Abstract
One solution for the motion planning in a nonholonomic vehicle, described as mobile robot, is made in this paper. Using the boundary conditions, the desired trajectory is parameterized in a polynomial by means of a point to point steering algorithm. The system is drove trough the trajectory, using the Differential Flatness properties, calculating the input values in order to perform the movement. Simulations and results of the study are presented.
Keywords
mobile robots; path planning; polynomials; trajectory control; boundary condition; differential flatness; mobile robots; motion planning; nonholonomic vehicle; point to point steering algorithm; polynomial; trajectory parameterization; Mobile robots; Planning; Tracking; Trajectory; Vectors; Vehicles; Trajectory generation; flatness; mobile robots; non holonómico systems; point to point steering;
fLanguage
English
Journal_Title
Latin America Transactions, IEEE (Revista IEEE America Latina)
Publisher
ieee
ISSN
1548-0992
Type
jour
DOI
10.1109/TLA.2011.6129695
Filename
6129695
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