Title :
Mobile robot trajectory planning with dynamic and kinematic constraints
Author :
Munoz, V. ; Ollero, A. ; Prado, M. ; Simon, A.
Author_Institution :
Dept. de Ingenieria de Sistemas y Autom., Malaga Univ., Spain
Abstract :
This paper presents methods for planning mobile robot trajectories by considering the kinematic and dynamic constraints on the vehicle motion. The resulting path is smooth and quasilinear in curvature variations. The maximum value of the curvature can be assured to be smaller than the value given by the constraints. Furthermore, speeds along the path are planned subject to the kinematic and dynamic constraints. The resulting trajectories provide ideal conditions for high precision path tracking and positioning. In the paper we present the application of the proposed methods to RAM-1, a new mobile robot designed and built for indoor and outdoor industrial environment
Keywords :
mobile robots; path planning; position control; robot dynamics; robot kinematics; tracking; RAM-1; curvature variations; dynamic constraints; kinematic constraints; mobile robot; path tracking; position control; trajectory planning; vehicle motion; Costs; Mobile robots; Navigation; Path planning; Position measurement; Robot kinematics; Service robots; Trajectory; Vehicle dynamics; Vehicles;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.350914