%0 Journal Article
%T Motion planning for nonholonomic robot with dynamic modeling<br>考虑动力学模型的非完整移动机器人运动规划
%A GUO Bing-hu
%A HU Yue-ming
%A <br>郭丙华
%A 胡跃明
%J 控制理论与应用
%D 2004
%I 
%X The work addresses the motion planning problem of nonholonomic mobile robot by considering kinematic and dynamic constraints on the robot motion.Under the known working environment,the cubic spiral curve was used to smooth the collision-free path based on the dynamic model and non-slipping nonholonomic kinematic constraint of mobile robot.It thus made the robot easy to track,and took into account the motor's speed limits of robot.Finally,numerical simulations were performed using Matlab to illustrate the effectiveness of the proposed planning method.
%K nonholonomic robot
%K kinematic and dynamic constraints
%K motion planning<br>非完整移动机器人
%K 运动学和动力学约束
%K 运动规划
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=485E2778DC500C56&yid=D0E58B75BFD8E51C&vid=659D3B06EBF534A7&iid=38B194292C032A66&sid=5824536C90612D67&eid=BD7D27247C63490C&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=3&reference_num=6