DocumentCode
324077
Title
Speed planning and generation approach based on the path-time space for mobile robots
Author
Munoz, V. ; Cruz, Alberth ; García-Cerezo, A.
Author_Institution
Dept. de Ingenieria de Sistemas y Automatica, Malaga Univ., Spain
Volume
3
fYear
1998
fDate
16-20 May 1998
Firstpage
2199
Abstract
This paper presents a speed planning and generation algorithm for mobile robots that work under some kind of speed limitations. The proposed method takes the information about these speed constraints and the moving obstacles in the environment, and provides a safe speed profile which allows to build a trajectory that bypasses such obstacles. The method has been successfully tested in the RAM-2 mobile robot
Keywords
mobile robots; path planning; RAM-2 mobile robot; obstacle bypassing; path-time space; safe speed profile; speed generation; speed planning; Control systems; Kinematics; Mobile robots; Motion control; Navigation; Path planning; Process planning; Testing; Trajectory; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680650
Filename
680650
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