New trajectory generation methods for nonholonomic mobile robots

Dong Wenjie; Guo Yi

doi:10.1109/ISCST.2005.1553334

New trajectory generation methods for nonholonomic mobile robots

Dong Wenjie
, Guo Yi

Department of Electrical and Computer Engineering

University of Central Florida

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	English
Title of host publication	Proceedings - 2005 International Symposium on Collaborative Technologies and Systems
Pages	353-358
Number of pages	6
DOIs	https://doi.org/10.1109/ISCST.2005.1553334
State	Published - 2005
Event	2005 International Symposium on Collaborative Technologies and Systems - Saint Louis, MO, United States Duration: 15 May 2005 → 20 May 2005

Publication series

Name	Proceedings - 2005 International Symposium on Collaborative Technologies and Systems
Volume	2005

Conference

Conference	2005 International Symposium on Collaborative Technologies and Systems
Country/Territory	United States
City	Saint Louis, MO
Period	15/05/05 → 20/05/05

Keywords

Closed-loop control
Mobile robot
Nonholonomic system
Trajectory generation

Access to Document

10.1109/ISCST.2005.1553334

Cite this

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title = "New trajectory generation methods for nonholonomic mobile robots",

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.",

keywords = "Closed-loop control, Mobile robot, Nonholonomic system, Trajectory generation",

author = "Dong Wenjie and Guo Yi",

year = "2005",

doi = "10.1109/ISCST.2005.1553334",

language = "English",

isbn = "0769523870",

series = "Proceedings - 2005 International Symposium on Collaborative Technologies and Systems",

pages = "353--358",

booktitle = "Proceedings - 2005 International Symposium on Collaborative Technologies and Systems",

note = "2005 International Symposium on Collaborative Technologies and Systems ; Conference date: 15-05-2005 Through 20-05-2005",

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Wenjie, D & Yi, G 2005, New trajectory generation methods for nonholonomic mobile robots. in Proceedings - 2005 International Symposium on Collaborative Technologies and Systems., 1553334, Proceedings - 2005 International Symposium on Collaborative Technologies and Systems, vol. 2005, pp. 353-358, 2005 International Symposium on Collaborative Technologies and Systems, Saint Louis, MO, United States, 15/05/05. https://doi.org/10.1109/ISCST.2005.1553334

New trajectory generation methods for nonholonomic mobile robots. / Wenjie, Dong; Yi, Guo.
Proceedings - 2005 International Symposium on Collaborative Technologies and Systems. 2005. p. 353-358 1553334 (Proceedings - 2005 International Symposium on Collaborative Technologies and Systems; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Yi, Guo

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AB - 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.

KW - Closed-loop control

KW - Mobile robot

KW - Nonholonomic system

KW - Trajectory generation

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M3 - Conference contribution

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Y2 - 15 May 2005 through 20 May 2005

ER -

New trajectory generation methods for nonholonomic mobile robots

Abstract

Publication series

Conference

Keywords

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