Fast, dynamic trajectory planning for a dynamically stable mobile robot
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3636 - 3641, September, 2014
Abstract
This work presents a method to generate dynamically feasible trajectories for a balancing robot in the presence of obstacles, both static and moving. Intended for use on a ballbot, these trajectories respect the dynamics of the robot, and can be generated in milliseconds. Trajectories were experimentally verified on the ballbot in unstructured indoor environments at speeds up to .7 m/s and distances of up to 25 m. The method presented provides a tractable solution for indoor ballbot navigation, enabling safe movement through unstructured environments.
BibTeX
@conference{Shomin-2014-122032,author = {Michael Shomin and Ralph Hollis},
title = {Fast, dynamic trajectory planning for a dynamically stable mobile robot},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2014},
month = {September},
pages = {3636 - 3641},
}
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