A new analytical solution to mobile robot trajectory generation in the presence of moving obstacles

IEEE Transactions on Robotics

Volumn 20, Issue 6, 2004, Pages 978-993

  Qu, Zhihua ^a   Wang, Jing ^a   Plaisted, Clinton E ^b,c  

^a UNIVERSITY OF CENTRAL FLORIDA   (United States)

^b LOCKHEED MARTIN   (United States)

^c NASA HEADQUARTERS   (United States)

Author keywords

Car like robot; Chained form; Moving obstacle; Nonholonomic systems; Obstacle avoidance; Piecewise parameterization; Polynomial inputs; Trajectory generation

Indexed keywords

BOUNDARY CONDITIONS; COLLISION AVOIDANCE; COMPUTER SIMULATION; KINEMATICS; MATHEMATICAL MODELS; MATHEMATICAL TRANSFORMATIONS; THEOREM PROVING;

CAR LIKE ROBOT; CHAINED FORM; MOVING OBSTACLE; NONHOLOMONIC SYSTEMS; PIECEWISE PARAMETERIZATION; POLYNOMIAL INPUTS; TRAJECTORY GENERATION;

MOBILE ROBOTS;

EID: 10944222960     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2004.829461     Document Type: Article

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