상세정보
학술대회
Trajectory Generation for a Car-Like Mobile Robot using Closed-Loop Prediction
- 발행일
- 201410
- 출처
- International Conference on Control, Automation and Systems (ICCAS) 2014, pp.1407-1410
- 협약과제
- 14MC1300, ICT기반 차량/운전자 협력자율주행 시스템(Co-Pilot)의 판단/제어 기술 개발, 한우용
- 초록
- This paper proposes a trajectory generation method using the closed-loop prediction to follow reference path, which are provided by a global path planner. Using the proposed method, smooth trajectories can be generated by considering the position of a mobile robot and its kinematic properties. The feasibility of the proposed method was verified by simulations in various situations.
- KSP 제안 키워드
- Car-like mobile robot, Closed-loop, Global path planner, Loop prediction, Trajectory generation method