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	Two-staged motion planning approach combined with predict simulation
	Tang Huabin ; Wang Lei ; Sun Zengqi
	2010-05-06 ; 2010-05-06
关键词	Practical Experimental/ delays mobile robots path planning position control robot dynamics robot kinematics/ two-staged motion planning predict simulation time-delays real-time mobile robots rapid approximation method robot kinematics robot dynamics/ C3390C Mobile robots C1340J Distributed parameter control systems C3120C Spatial variables control
中文摘要	A two-staged motion planning approach is combined with a prediction algorithm for motion planning with the physical constraints caused by the kinematics, dynamics, and time-delays in real-time mobile robots. Even with a rapid approximation method, the method reduces the robot velocity and position errors which greatly improves the precision. The system provides a reasonable, near-time-optimal trajectory. Experiments show that the method performs well in real-time mobile robot systems.
语种	英语 ; 英语
出版者	Tsinghua Univ. Press ; China
内容类型	期刊论文
源URL	[http://hdl.handle.net/123456789/10326]
专题	清华大学
推荐引用方式 GB/T 7714	Tang Huabin,Wang Lei,Sun Zengqi. Two-staged motion planning approach combined with predict simulation[J],2010, 2010.
APA	Tang Huabin,Wang Lei,&Sun Zengqi.(2010).Two-staged motion planning approach combined with predict simulation..
MLA	Tang Huabin,et al."Two-staged motion planning approach combined with predict simulation".(2010).

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