Trajectory Tracking Control of Mobile Robot by Time Based Spline Approach

Abstract

The mobile robot must move without unacceptable rapid motion. To address this issue, in this paper, a preview controller with time based spline approach is proposed.Using the time based spline approach, it is also important to plan the adequate trajectory.Here an approach to trajectory planning which has the trajectory determination strategy by virtual manipulator is proposed.Numerical and experimental results are shown to confirm the proposed algorithm.