Trajectory planning toward the waypoint for mobile robot
Jinhong Noh, Jae Hyung Park, Haiyun Wang, Jonghun Park, Seong-Ryong Chang, Uk-Youl Huh · 2015
This paper presents a novel method to trajectory planning for waypoint tracking. The direction for heading waypoint with considering kinematic constraints has been defined. It has advantages in smoothness and robustness. Simulation shows the validity of the proposed method.