Trajectory Planning and Control Algorithms of Mobile Robots for Static Environments

C. Urrea
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Abstract

In this chapter, different types of trajectory control and planning algorithms for mobile robots in static environments are analyzed and assessed. To this end, a mobile robot is made to plan and follow a route between two arbitrary points in an autonomous way. This work goes in depth into the discrete space techniques and those based on search trees. First, kinematics, trajectory planning and contour maps, robot control, etc. are reviewed. Second, computer simulations that validate these theoretical results are also designed and implemented. Finally, the strengths and weaknesses of each trajectory planning methodology are assessed.
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静态环境下移动机器人的轨迹规划与控制算法
在这一章中,分析和评估了不同类型的移动机器人在静态环境中的轨迹控制和规划算法。为此,使移动机器人能够以自主的方式规划和遵循任意两点之间的路线。这项工作深入研究了离散空间技术和基于搜索树的技术。首先,综述了运动学、轨迹规划和等高线图、机器人控制等。其次,还设计并实现了验证这些理论结果的计算机模拟。最后,对每种轨迹规划方法的优缺点进行了评估。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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