Trajectory generation for a car-like mobile robot using closed-loop prediction
Byungjae Park, Woo Yong Han · 2014
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.