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Time-critical trajectory planning for a car-like robot in unknown environments

Proceeding of Business Engineering and Industrial Applications Colloquium 2013 (BEIAC 2013) at Langkawi, Malaysia on 7 April 2013 through 9 April 2013.

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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: Institute of Electrical and Electronics Engineers (IEEE) 2014
Subjects:
Trajectory planning
Geometric approach
Nonholonomic mobile robot
Obstacle avoidance
Car-like robot
Online Access:http://dspace.unimap.edu.my:80/dspace/handle/123456789/34182
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record_format dspace
spelling my.unimap-341822014-04-30T01:28:58Z Time-critical trajectory planning for a car-like robot in unknown environments Mohd Sani, Mohamad Hashim Tien-Fu, Lu sanihashim@unimap.edu.my tien-fu.lu@adelaide.edu.au Trajectory planning Geometric approach Nonholonomic mobile robot Obstacle avoidance Car-like robot Proceeding of Business Engineering and Industrial Applications Colloquium 2013 (BEIAC 2013) at Langkawi, Malaysia on 7 April 2013 through 9 April 2013. This paper presents a trajectory planning and realtime control of a nonholonomic mobile robot in a static environment. The trajectory is generated based on a geometric approach for a nonholonomic mobile robot. The trajectory is time-critical which the mobile robot is expected to reach the final point at the specified travelling time. This approach may have a significant ramification on the task-based applications, which require the robot to pass through all the control points in a specified time such as a large area patrol and goods delivery. In order to have a remote control on the mobile robot, it was equipped with a wireless communication. The algorithm is then being tested in the static environment and the results from the experimental works are compared with the results from the simulation works. The mobile robot that was used in the experimental works was adapted from a car-like robot. 2014-04-30T01:28:58Z 2014-04-30T01:28:58Z 2013-04 Working Paper p. 836-841 978-1-4673-5967-2 http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6560253 http://dspace.unimap.edu.my:80/dspace/handle/123456789/34182 en Proceeding of Business Engineering and Industrial Applications Colloquium 2013 (BEIAC 2013); Institute of Electrical and Electronics Engineers (IEEE)
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
Geometric approach
Nonholonomic mobile robot
Obstacle avoidance
Car-like robot
spellingShingle Trajectory planning
Geometric approach
Nonholonomic mobile robot
Obstacle avoidance
Car-like robot
Mohd Sani, Mohamad Hashim
Tien-Fu, Lu
Time-critical trajectory planning for a car-like robot in unknown environments
description Proceeding of Business Engineering and Industrial Applications Colloquium 2013 (BEIAC 2013) at Langkawi, Malaysia on 7 April 2013 through 9 April 2013.
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 Time-critical trajectory planning for a car-like robot in unknown environments
title_short Time-critical trajectory planning for a car-like robot in unknown environments
title_full Time-critical trajectory planning for a car-like robot in unknown environments
title_fullStr Time-critical trajectory planning for a car-like robot in unknown environments
title_full_unstemmed Time-critical trajectory planning for a car-like robot in unknown environments
title_sort time-critical trajectory planning for a car-like robot in unknown environments
publisher Institute of Electrical and Electronics Engineers (IEEE)
publishDate 2014
url http://dspace.unimap.edu.my:80/dspace/handle/123456789/34182
_version_ 1643797414669189120
score 13.214268

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