Performance of a time-dependent motion planning approach for a car-like robot in static environments
International Conference on Man Machine Systems (ICoMMS 2012) organized by School of Mechatronic Engineering, co-organized by The Institute of Engineer, Malaysia (IEM) and Society of Engineering Education Malaysia, 27th - 28th February 2012 at Bayview Beach Resort, Penang, Malaysia.
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Universiti Malaysia Perlis (UniMAP)
2012
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my.unimap-205862012-08-09T03:43:37Z Performance of a time-dependent motion planning approach for a car-like robot in static environments Mohd. Sani, Mohamad Hashim Tien-Fu, Lu sanihashim@unimap.edu.my tien-fu.lu@adelaide.edu.au Trajectory planning Mobile robot Time-dependent Geometric approach International Conference on Man Machine Systems (ICoMMS 2012) organized by School of Mechatronic Engineering, co-organized by The Institute of Engineer, Malaysia (IEM) and Society of Engineering Education Malaysia, 27th - 28th February 2012 at Bayview Beach Resort, Penang, Malaysia. Trajectory planning and obstacle avoidance are very important issues to obtain a smooth and collision-free navigation for an autonomous mobile robot. In this paper, the performance of a time-dependent motion planning approach for a car-like robot is presented. The proposed approach can be divided into two levels; offline and online planning. Offline planning generates a collision-free trajectory with the consideration of known obstacles at the early stage, while online planning deals with unknown obstacles once the robot starting to move. The generated trajectory is developed based on a geometric approach. This paper mainly focuses on the offline planning which was implemented and tested using a car-like robot in static environments. The presented results demonstrate the performance of the offline planning and the practicality and effectiveness of the algorithm. 2012-08-09T03:43:37Z 2012-08-09T03:43:37Z 2012-02-27 Working Paper http://hdl.handle.net/123456789/20586 en Proceedings of the International Conference on Man-Machine Systems (ICoMMS 2012) Universiti Malaysia Perlis (UniMAP) School of Mechatronic Engineering |
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Trajectory planning Mobile robot Time-dependent Geometric approach |
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Trajectory planning Mobile robot Time-dependent Geometric approach Mohd. Sani, Mohamad Hashim Tien-Fu, Lu Performance of a time-dependent motion planning approach for a car-like robot in static environments |
description |
International Conference on Man Machine Systems (ICoMMS 2012) organized by School of Mechatronic Engineering, co-organized by The Institute of Engineer, Malaysia (IEM) and Society of Engineering Education Malaysia, 27th - 28th February 2012 at Bayview Beach Resort, Penang, Malaysia. |
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sanihashim@unimap.edu.my |
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sanihashim@unimap.edu.my Mohd. Sani, Mohamad Hashim Tien-Fu, Lu |
format |
Working Paper |
author |
Mohd. Sani, Mohamad Hashim Tien-Fu, Lu |
author_sort |
Mohd. Sani, Mohamad Hashim |
title |
Performance of a time-dependent motion planning approach for a car-like robot in static environments |
title_short |
Performance of a time-dependent motion planning approach for a car-like robot in static environments |
title_full |
Performance of a time-dependent motion planning approach for a car-like robot in static environments |
title_fullStr |
Performance of a time-dependent motion planning approach for a car-like robot in static environments |
title_full_unstemmed |
Performance of a time-dependent motion planning approach for a car-like robot in static environments |
title_sort |
performance of a time-dependent motion planning approach for a car-like robot in static environments |
publisher |
Universiti Malaysia Perlis (UniMAP) |
publishDate |
2012 |
url |
http://dspace.unimap.edu.my/xmlui/handle/123456789/20586 |
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1643793133250543616 |
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13.18916 |