Trajectory planning for mobile robot with kinodynamic constraints

Hyunki Kwon, Seongyong Park, Chang Bae Moon, Woo Jin Chung

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this research, we present a new algorithm for trajectory generation of two-wheeled mobile robots. The proposed methods is based on Rapidly exploring Random Tree (RRT) method and expands its structure with two different tree structure. By using dual tree, the proposed scheme can generate feasible path with low cost.

Original languageEnglish
Title of host publication2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages893-894
Number of pages2
ISBN (Electronic)9781509030552
DOIs
Publication statusPublished - 2017 Jul 25
Event14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 - Jeju, Korea, Republic of
Duration: 2017 Jun 282017 Jul 1

Other

Other14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
CountryKorea, Republic of
CityJeju
Period17/6/2817/7/1

Keywords

  • Path planning
  • RRT
  • Trajectory Generation
  • Two wheeled mobile robot

ASJC Scopus subject areas

  • Computer Science Applications
  • Biomedical Engineering
  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Optimization

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  • Cite this

    Kwon, H., Park, S., Moon, C. B., & Chung, W. J. (2017). Trajectory planning for mobile robot with kinodynamic constraints. In 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017 (pp. 893-894). [7992859] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/URAI.2017.7992859