TY - GEN
T1 - A sequential path extension method for mobile robot
AU - Kawabata, Kuniaki
AU - Xue, Jianru
AU - Ma, Liang
AU - Zheng, Nanning
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2015/1/26
Y1 - 2015/1/26
N2 - This paper describes a path planning method for mobile robots/vehicles be extending the path sequentially. Considering practical use and applications of the mobile robot/vehicles, additional via-points for future path are given sequentially from sensor processing and environment recognition process. Thus, the path should be calculated sequentially with such additional conditions during mission execution. In this paper, we described a key idea of our method to extend the path iteratively. Polynomial-based time curve is utilized as the basis of the method and it describes path extension segment for certain period. The coefficients of such path extension segment are renewed by additional via-points. Computer simulations with proposed method were conducted and reported for fundamental confirmations. The results shows sequential path extension can be done by our proposed method.
AB - This paper describes a path planning method for mobile robots/vehicles be extending the path sequentially. Considering practical use and applications of the mobile robot/vehicles, additional via-points for future path are given sequentially from sensor processing and environment recognition process. Thus, the path should be calculated sequentially with such additional conditions during mission execution. In this paper, we described a key idea of our method to extend the path iteratively. Polynomial-based time curve is utilized as the basis of the method and it describes path extension segment for certain period. The coefficients of such path extension segment are renewed by additional via-points. Computer simulations with proposed method were conducted and reported for fundamental confirmations. The results shows sequential path extension can be done by our proposed method.
UR - https://www.scopus.com/pages/publications/84940470374
U2 - 10.1109/TENCON.2014.7022297
DO - 10.1109/TENCON.2014.7022297
M3 - 会议稿件
AN - SCOPUS:84940470374
T3 - IEEE Region 10 Annual International Conference, Proceedings/TENCON
BT - TENCON 2014 - 2014 IEEE Region 10 Conference
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE Region 10 Conference, TENCON 2014
Y2 - 22 October 2014 through 25 October 2014
ER -