New trajectory generation methods for nonholonomic mobile robots

Dong Wenjie, Guo Yi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

15 Scopus citations

Abstract

We consider the problem of trajectory generation of non-holonomic mobile robots. We propose two trajectory generation algorithms, one uses a differential flatness based method and the other uses a polynomial input based method. Simulation results are shown for the proposed trajectory generation algorithms.

Original languageEnglish
Title of host publicationProceedings - 2005 International Symposium on Collaborative Technologies and Systems
Pages353-358
Number of pages6
DOIs
StatePublished - 2005
Event2005 International Symposium on Collaborative Technologies and Systems - Saint Louis, MO, United States
Duration: 15 May 200520 May 2005

Publication series

NameProceedings - 2005 International Symposium on Collaborative Technologies and Systems
Volume2005

Conference

Conference2005 International Symposium on Collaborative Technologies and Systems
Country/TerritoryUnited States
CitySaint Louis, MO
Period15/05/0520/05/05

Keywords

  • Closed-loop control
  • Mobile robot
  • Nonholonomic system
  • Trajectory generation

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