Title :
Smooth path planning and control for mobile robots
Author :
Shangming Wei;M. Zefran
Author_Institution :
Dept. of Electr. & Comput. Eng., Illinois Univ., Chicago, IL, USA
fDate :
6/27/1905 12:00:00 AM
Abstract :
In this article a new complete sensor based path planning algorithm for autonomous mobile robot is presented. The algorithm guarantees global convergence to the target while at the same time the generated path is smooth, a key requirement for implementation on real robots. The completeness of the proposed scheme is proved using techniques from hybrid control.
Keywords :
"Path planning","Robot control","Mobile robots","Robot sensing systems","Robot kinematics","Convergence","Service robots","Safety","Actuators","Switches"
Conference_Titel :
Networking, Sensing and Control, 2005. Proceedings. 2005 IEEE
Print_ISBN :
0-7803-8812-7
DOI :
10.1109/ICNSC.2005.1461311
