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A novel approach to smooth trajectory planning of a mobile robot

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dc.contributor.authorAydin, S.
dc.contributor.authorTemeltas, H.
dc.date.accessioned2026-01-26T02:12:47Z
dc.date.issued2003-06-25
dc.description.abstractThis paper represents a novel smooth trajectory planning algorithm which uses the natural behavior model of a mobile robot (MR). The shortest path in the free configuration space is obtained by using the visibility graph method. It is modified according to dynamic constraints which are implicitly included in natural behavior of the mobile robot. The modified path becomes a smooth, easily trackable near time and distance optimal trajectory. For every point of it, translating/steering velocities and accelerations and reaching times are known. It is applicable to the real time dynamic configuration spaces, because of simplicity and low computational time.
dc.description.urihttps://doi.org/10.1109/amc.2002.1026966
dc.description.urihttps://dx.doi.org/10.1109/amc.2002.1026966
dc.identifier.doi10.1109/amc.2002.1026966
dc.identifier.endpage477
dc.identifier.openairedoi_dedup___::c32f09c730b6dd9e5688d35dde6be1e4
dc.identifier.startpage472
dc.identifier.urihttps://hdl.handle.net/11527/57084
dc.publisherIEEE
dc.relation.ispartof7th International Workshop on Advanced Motion Control. Proceedings (Cat. No.02TH8623)
dc.titleA novel approach to smooth trajectory planning of a mobile robot
dc.typeArticle
dspace.entity.typePublication

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