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Conference Paper
Trajectory Generation for a Car-Like Mobile Robot using Closed-Loop Prediction
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- Authors
- Byungjae Park, Woo Yong Han
- Issue Date
- 2014-10
- Citation
- International Conference on Control, Automation and Systems (ICCAS) 2014, pp.1407-1410
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- 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 Keywords
- Car-like mobile robot, Closed-loop, Loop prediction, Trajectory generation method, global path planner