Un nuevo método de generación de caminos para robots móviles mediante curvas clotoides

Ingeniería Electrónica, Automática y Comunicaciones

Torres Piñeiro, Maikel Orlando¹  Moreno Vega, Valery¹ 

关键词: mobile robots;    path generation;    clothed curves.;   

DOI  :  

来源: Instituto Superior Politecnico "Jose Antonio Echeverria"

【 摘 要 】

This work deals with a new smooth path generation method for a mobile robot having a tricycle configuration. The method uses elementary and bi-elementary paths in order to create four kind of basic curves or paths. The proposed algorithm takes into account the real robot dimensions and can be applied for any initial and final orientation of the robot. The method generates a smooth path which is warranted to be very near of the original planning.

【 授权许可】

Unknown