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An Approach To Motion Planning Of Mobile Robots Considering Dynamic Constraints
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| Author(s) |
Misel Brezak, Ivan Petrovic, Andreja Kitanov |
| Abstract |
In this paper a real-time motion planner for mobile
robots with differential drives is proposed. Its main advantages
are smooth robot trajectory and relatively low computational
complexity. The proposed algorithm produces near time optimal
robot motion. It is particularly suitable in cases when desired
robot configuration is defined not only with robot pose, but also
with its velocity in the desired pose. This is the case, for
example, in robot soccer, where robot must kick the ball with
desired orientation and velocity. |
| Download |
| Filename: | A72421 |
| Filesize: | 229.9 KB |
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| Type |
Members Only |
| Date |
Last modified 2006-02-17 by System |
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