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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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Bibliographic Details
Main Authors: Mohd. Sani, Mohamad Hashim, Tien-Fu, Lu
Other Authors: sanihashim@unimap.edu.my
Format: Working Paper
Language:English
Published: Universiti Malaysia Perlis (UniMAP) 2012
Subjects:
Trajectory planning
Mobile robot
Time-dependent
Geometric approach
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/20586
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spelling 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
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Trajectory planning
Mobile robot
Time-dependent
Geometric approach
spellingShingle 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.
author2 sanihashim@unimap.edu.my
author_facet 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
_version_ 1643793133250543616
score 13.214268

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