Journal of the Robotics Society of Japan
Online ISSN : 1884-7145
Print ISSN : 0289-1824
ISSN-L : 0289-1824
Paper
Motion Planning of an Autonomous Mobile Robot Considering Regions with Velocity Constraints
Kiyohiro GotoKazuyuki KonFumitoshi Matsuno
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2010 Volume 28 Issue 8 Pages 930-937

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Abstract
Recently various autonomous mobile robots are developed for practical use. For coexistence of the robots and human in the real environment, the consideration of safety is very important. We should consider a region with a limitation of a maximum velocity of a mobile robot for the safety. In this paper, we propose path planning and trajectory generation methods for a mobile robot which moves in the environment with predetermined velocity constraints. In order to demonstrate the validity of the proposed methods, numerical simulations and experiments have been carried out.
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© 2010 The Robotics Society of Japan
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