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Shammas, H. Choset, and A. A. Rizzi, “Geometric motion planning analysis for two classes of underactuated mechanical systems,” The International Journal of Robotics Research, vol. 26, no. 10, pp. 1043-1073, 2007.

has been cited by the following article:

Article

Motion Planning of Mobile Robot

1Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia


Journal of Automation and Control. 2017, Vol. 5 No. 2, 54-59
DOI: 10.12691/automation-5-2-5
Copyright © 2017 Science and Education Publishing

Cite this paper:
Tomáš Lipták, Michal Kelemen, Alexander Gmiterko, Ivan Virgala, Darina Hroncová. Motion Planning of Mobile Robot. Journal of Automation and Control. 2017; 5(2):54-59. doi: 10.12691/automation-5-2-5.

Correspondence to: Tomáš  Lipták, Department of Mechatronics, Faculty of Mechanical Engineering, Technical University of Košice, Košice, Slovakia. Email: tomas.liptak@tuke.sk

Abstract

The article deals with the issue of mathematical modelling of wheeled mobile robot. The introductory part of article contains theory regarding different approaches of mathematical modelling that we used. Further we applied these methods of mathematical modelling to wheeled mobile robot and we determined the mathematical model. The last part contains the motion planning in the base space and motion planning in the fiber space. These simulations of movement were realized in MATLAB.

Keywords