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Type: Conference paper
Title: Performance of a time-dependent motion planning approach for a car-like robot in static environments
Author: Mohamad Hashim, M.
Lu, T.
Citation: Proceedings of the International Conference on Man-Machine Systems 2012 (ICoMMS 2012), held in Penang, Malysia, 27-28 February, 2012: pp.1-6
Publisher: IEEE Malaysia
Publisher Place: CD
Issue Date: 2012
Conference Name: International Conference on Man-Machine Systems (2012 : Penang, Malaysia)
Statement of
Mohd. Sani Mohamad Hashim and Tien-Fu Lu
Abstract: 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.
Keywords: Trajectory planning
mobile robot
geometric approach
Rights: Copyright status unknown
Appears in Collections:Aurora harvest
Mechanical Engineering conference papers

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