書誌事項
- タイトル別名
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- Trajectory Tracking Control of Mobile Robot by Fluid Model
- リュウタイ モデル オ モチイタ ジリツ イドウ ロボット ノ キドウ ツイジュウ セイギョ
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抄録
This paper describes a fluid model based path planning of mobile robot. In the previous research, the authors have already proposed TBSA (Time Based Spline Approach) for smooth motion of industrial robots(1). The TBSA is a powerful method in industrial applications, but the future position and velocity commands must be known to use it. In the general applications of repeat motion, this assumption is acceptable. In the path planning of mobile robot, however, the future position and velocity commands are unknown. To address the above issue, a strategy to generate the path of mobile robot based on fluid model is proposed in this paper. The combination of the TBSA and the generated path by fluid model brings a smooth motion of mobile robots.
収録刊行物
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- 電気学会論文誌D(産業応用部門誌)
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電気学会論文誌D(産業応用部門誌) 127 (3), 315-321, 2007
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390001204658515072
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- NII論文ID
- 10018738024
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 8732537
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可