Trajectory Tracking Control of Mobile Robot by Fluid Model

摘要

This paper describes a fluid model-based path planning of mobile robot. In previous research, the authors proposed TBSA (Time-Based Spline Approach) for smooth motion of industrial robots. The TBSA is a powerful method in industrial applications, but the future position and velocity commands must be known to use it. In the general applications of repeat motion, this assumption is acceptable. In the path planning of a mobile robot, however, the future position and velocity commands are unknown. To address the above issue, a strategy to generate the path of a mobile robot based on the fluid model is proposed in this paper. The combination of the TBSA and the generated path by the fluid model brings a smooth motion of mobile robots.