2P1-K01 Motion planning to attain Target Heading at Goal Point for Mobile Robot(New Control Theory and Motion Control)
Masanobu Saito, Yoji KURODA · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2013
In this paper, we propose a motion planning method for reaching goal-point with target heading attained. Our system is composed of global planning and trajectory generation. The generated trajectory is considered the robot motion model. Candidate trajectory is generated plural,and the optimal trajectory is singled out through a three-stage evaluation. The effectiveness of the proposed method is proved through experiments in outdoor environments.