Seguimiento de Trayectorias en Robots Móviles Aplicando Sistemas Diferenciales Planos (Differential Flatness) (Motion planning on Mobile Robots using Differential Flatness)

Elkin Veslin (elkinveslin@ufrj.br), Jules Slama (jules@mecanica.ufrj.br), Max Suell Dutra (max@mecanica.coppe.ufrj.br), Omar Lengerke (olengerke@ufrj.br)


Universidade Federal do Rio de Janeiro - COPPE/UFRJ
This paper appears in: Revista IEEE América Latina

Publication Date: Dec. 2011
Volume: 9,   Issue: 7 
ISSN: 1548-0992


Abstract:
One solution for the motion planning in a non holonómico vehicle, described as mobile robot, is made in this paper. Using the boundary conditions, the desired trajectory is parameterized in a polynomial by means of a point to point steering algorithm. The system is drove trough the trajectory, using the Differential Flatness properties, calculating the input values in order to perform the movement. Simulations and results of the study are presented.

Index Terms:
Trajectory generation, mobile robots, non holonómico systems, flatness, point to point steering   


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