TY - JOUR
T1 - Motion planning on mobile robots using differential flatness
AU - Veslin, Elkin Y.
AU - Slama, Jules
AU - Dutra, Max Suell
AU - Lengerke, Omar
PY - 2011/12
Y1 - 2011/12
N2 - A solution for the trajectory tracking in a non holonomic vehicles, descript as mobile robot is presented in this article. Using boundary values, the desired trajectories are parameterized in a polynomial through a point to point tracking algorithm. The system is driven by the trajectory applying the Differential Flatness properties, which calculates the input values necessaries to perform the trajectory. In order to evaluate the tracking, are applied polynomial and trigonometric trajectories, and is presented that the vehicle made the path analogous to the trajectory with a deviation along the movement, this deviation are related with the nature of the equations that define the path.
AB - A solution for the trajectory tracking in a non holonomic vehicles, descript as mobile robot is presented in this article. Using boundary values, the desired trajectories are parameterized in a polynomial through a point to point tracking algorithm. The system is driven by the trajectory applying the Differential Flatness properties, which calculates the input values necessaries to perform the trajectory. In order to evaluate the tracking, are applied polynomial and trigonometric trajectories, and is presented that the vehicle made the path analogous to the trajectory with a deviation along the movement, this deviation are related with the nature of the equations that define the path.
KW - Flat systems
KW - Mobile robots
KW - Non holonomic systems
KW - Point to point tracking
KW - Trajectory generation
UR - http://www.scopus.com/inward/record.url?scp=84856158995&partnerID=8YFLogxK
U2 - 10.1109/TLA.2011.6129695
DO - 10.1109/TLA.2011.6129695
M3 - Artículo Científico
AN - SCOPUS:84856158995
SN - 1548-0992
VL - 9
SP - 1006
EP - 1011
JO - IEEE Latin America Transactions
JF - IEEE Latin America Transactions
IS - 7
M1 - 6129695
ER -