Title :
Trajectory planning for mobile robots based on dynamical models
Author :
Gürtler, Csaba ; Vajta, László ; Nagy, István
Author_Institution :
Dept. of Process Control, Budapest Tech. Univ., Hungary
Abstract :
In this paper we describe an algorithm for optimal trajectory planning of a polygonal mobile robot, capable of translational motion, in a known environment, using the dynamic properties of the robot. The navigational environment contains stationary polygonal obstacles, its bounding walls are also polygonal. The whole map of the navigational environment (the obstacles and the free space) is already known
Keywords :
mobile robots; optimal control; path planning; robot dynamics; dynamical models; navigational environment; optimal trajectory planning; polygonal mobile robot; translational motion; Manufacturing automation; Manufacturing systems; Mathematical model; Mobile robots; Motion planning; Navigation; Orbital robotics; Process control; Robot sensing systems; Trajectory;
Conference_Titel :
Intelligent Engineering Systems, 1997. INES '97. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Budapest
Print_ISBN :
0-7803-3627-5
DOI :
10.1109/INES.1997.632412
