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
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;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680650
