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Proceedings Paper

Extremal smooth trajectory planning of a mobile robot
Author(s): Serkan Aydin; Hakan Temeltas
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Paper Abstract

This paper represents a novel smooth trajectory planning algorithm which uses the natural behavior model of a mobile robot (MR). The shortest path in the free configuration space is obtained by using the visibility graph method. It is modified according to dynamic constraints which are implicitly included in the natural behavior of the mobile robot. The modified path becomes a smooth, easily tractable time-optimal trajectory. For every points of it, translating/steering velocities and accelerations and reaching times are known. It is applicable to the real-time dynamic configuration spaces, because of simplicity and low computational time.

Paper Details

Date Published: 18 February 2002
PDF: 12 pages
Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); doi: 10.1117/12.457452
Show Author Affiliations
Serkan Aydin, Istanbul Technical Univ. (Turkey)
Hakan Temeltas, Istanbul Technical Univ. (Turkey)

Published in SPIE Proceedings Vol. 4573:
Mobile Robots XVI
Douglas W. Gage; Howie M. Choset, Editor(s)

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