Two-staged motion planning approach combined with predict simulation
Sun Zengqi · Journal of Tsinghua University(Science and Technology) · 2005
A two-staged motion planning approach is combined with a prediction algorithm for motion planning with the physical constraints caused by the kinematics, dynamics, and time-delays in real-time mobile robots. Even with a rapid approximation method, the method reduces the robot velocity and position errors which greatly improves the precision. The system provides a reasonable, near-time-optimal trajectory. Experiments show that the method performs well in real-time mobile robot systems.