Motion Planning of Wheeled Mobile Robot Driven by Differential Wheels

Abstract:

This paper studies the problem of motion planning of wheeled mobile robot (WMR), which is driven by double wheels separately. It mainly accomplish the motion planning of WMR by taking center of one of double wheels as a base point, and also carry out this problem by traditional method, which takes the midpoint of interval between two wheels as a base point. Besides, these two motion planning methods are compared. Experimental results show that the first motion planning method is simply controlled, saves much computer time and it establishes the foundation to solve the problem of real time control to WMR.

• Periodical: Key Engineering Materials (Volumes 392-394)
• Pages: 777-780
• DOI: https://doi.org/10.4028/www.scientific.net/KEM.392-394.777
• Online since: October 2008
• Authors: Zhong Min Wang, Bing Yan
• Keywords: Motion Planning, Trajectory Tracking, Wheeled Mobile Robot (WMR)

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