Trajectory planning and optimal tracking for an industrial mobile robot

Huosheng Hu; J. Michael Brady; Penelope J. Probert

doi:10.1117/12.167491

1 February 1994 Trajectory planning and optimal tracking for an industrial mobile robot

Huosheng Hu, J. Michael Brady, Penelope J. Probert

Proceedings Volume 2058, Mobile Robots VIII; (1994) https://doi.org/10.1117/12.167491
Event: Optical Tools for Manufacturing and Advanced Automation, 1993, Boston, MA, United States

Abstract

This paper introduces a unified approach to trajectory planning and tracking for an industrial mobile robot subject to non-holonomic constraints. We show (1) how a smooth trajectory is generated that takes into account the constraints from the dynamic environment and the robot kinematics; and (2) how a general predictive controller works to provide optimal tracking capability for nonlinear systems. The tracking performance of the proposed guidance system is analyzed by simulation.

Citation Download Citation

Huosheng Hu, J. Michael Brady, and Penelope J. Probert "Trajectory planning and optimal tracking for an industrial mobile robot", Proc. SPIE 2058, Mobile Robots VIII, (1 February 1994); https://doi.org/10.1117/12.167491

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