Trajectory tracking control of mobile robot by time‐based spline approach

Abstract

Abstract A mobile robot must move without unacceptable rapid motion. To address this issue, we propose a preview controller using the time‐based spline approach. With this approach, it is also important to plan an adequate trajectory. Here an approach to trajectory planning which has the trajectory determination strategy via a virtual manipulator is proposed. Numerical and experimental results are shown to confirm the proposed algorithm. © 2005 Wiley Periodicals, Inc. Electr Eng Jpn, 151(4): 65–71, 2005; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/eej.10349