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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Institution:	Universiti Malaysia Perlis
Language:	English

id	my.unimap-34182
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

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

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