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Proceedings Paper

Trajectory planning and optimal tracking for an industrial mobile robot
Author(s): Huosheng Hu; J. Michael Brady; Penelope J. Probert
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Paper Abstract

This paper introduces a unified approach to trajectory planning and tracking for an industrial mobile robot subject to non-holonomic constraints. We show (1) how a smooth trajectory is generated that takes into account the constraints from the dynamic environment and the robot kinematics; and (2) how a general predictive controller works to provide optimal tracking capability for nonlinear systems. The tracking performance of the proposed guidance system is analyzed by simulation.

Paper Details

Date Published: 1 February 1994
PDF: 12 pages
Proc. SPIE 2058, Mobile Robots VIII, (1 February 1994); doi: 10.1117/12.167491
Show Author Affiliations
Huosheng Hu, Univ. of Oxford (United Kingdom)
J. Michael Brady, Univ. of Oxford (United Kingdom)
Penelope J. Probert, Univ. of Oxford (United Kingdom)

Published in SPIE Proceedings Vol. 2058:
Mobile Robots VIII
William J. Wolfe; Wendell H. Chun, Editor(s)

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