Referenced Items are not available for this document.
This paper presents a new navigation method for mobile robots, based on direct kinematics model and predictive control approach. It is adaptable to all types of robots taking into account their specific constraints. The research of the optimal trajectory is shifted in the continuous parameters space, which enables the exploitation of all of the robot's capabilities. The use of a stochastic algorithm enables the determination of obstacle bypass trajectories, and simulation results show that the navigation in cluttered environment is improved.
Published in:
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Date of Conference: 9-13 May 2011
- Page(s):
- 2566 - 2573
- ISSN :
- 1050-4729
- Print ISBN:
- 978-1-61284-386-5
- INSPEC Accession Number:
- 12326383
- Conference Location :
- Shanghai
- Digital Object Identifier :
- 10.1109/ICRA.2011.5979927
- Product Type:
- Conference Publications
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