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Type: Conference paper
Title: Time-critical trajectory planning for a car-like robot in unknown environments
Author: Mohamad Hashim, M.
Lu, T.
Citation: 2013 IEEE Business Engineering and Industrial Applications Colloquium (BEIAC), 2013, 2013, pp.836-841
Publisher: IEEE
Publisher Place: Online
Issue Date: 2013
ISBN: 9781467359689
Conference Name: 2013 IEEE Business Engineering and Industrial Applications Colloquium (BEIAC) (7 Apr 2013 - 9 Apr 2013 : Langkawi, Malaysia)
Statement of
Mohd Sani Mohamad Hashim, Tien-Fu Lu
Abstract: 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.
Rights: ©2013 IEEE
DOI: 10.1109/BEIAC.2013.6560253
Appears in Collections:Aurora harvest 7
Mechanical Engineering conference papers

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