Real Time Motion Control for Mobile Robot Using Spline Surface

Abstract

An artificial potential method is one of the motion planning methods for mobile robots. However, it has two problems of local minimum and computational cost. To resolve such problems, we proposed a method to utilize a spline surface for the control of a mobile robot. To apply the method to an actual robot, it is necessary to generate a path to a target point in real time. To generate a path in real time, this research proposes a method to generate interpolation points directly from a spline surface with automatic acceleration control in a maze with moving obstacles.