Trajectory Planning and Control Algorithms of Mobile Robots for Static Environments

Trajectory Planning and Control Algorithms of Mobile Robots for Static Environments

Claudio Urrea (Universidad de Santiago de Chile, Chile)
Copyright: © 2019 |Pages: 23
DOI: 10.4018/978-1-5225-5709-8.ch018

Abstract

In this chapter, different types of trajectory control and planning algorithms for mobile robots in static environments are analyzed and assessed. To this end, a mobile robot is made to plan and follow a route between two arbitrary points in an autonomous way. This work goes in depth into the discrete space techniques and those based on search trees. First, kinematics, trajectory planning and contour maps, robot control, etc. are reviewed. Second, computer simulations that validate these theoretical results are also designed and implemented. Finally, the strengths and weaknesses of each trajectory planning methodology are assessed.
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Kinematics Of The Mobile Robot In This Study

The position of the mobile robot considered in this study can be established by means of a relation between the global reference system (Figure 1a) and a local reference system (Figure 1b) of the robot.

Figure 1.

a) Global reference system; b) Local reference system

978-1-5225-5709-8.ch018.f01

Point P of Figure 1b denotes the local reference system, while the global position of the robot is described by means of a three-element vector 978-1-5225-5709-8.ch018.m01, where coordinates x and y correspond to the position of P in the global reference system, and 978-1-5225-5709-8.ch018.m02 is the angular difference between the global and the local reference systems.

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