@inproceedings{76fda6f7141249b498d101e8e307511a,
title = "Implementation of joint space trajectory planning using RTO swith considering velocity constraints for mobile robots",
abstract = "This paper presents an implementation of a smooth path planning method that considers the physical limits using a real time operating system to control a two-wheel mobile robot (TMR). A Bezier curve is utilized to make an S-curved path. A convolution operator is used to generate the center velocity trajectory to travel the distance of the planned path while considering the physical limits. The joint space velocity is computed to drive the TMR from the center velocity. A real time controller running a real time operating system was used to control the TMR.",
keywords = "mobile robots, path planning, real time control, trajectory planning",
author = "Yang, \{Gil Jin\} and Choi, \{Byoung Wook\}",
year = "2013",
doi = "10.1109/ISR.2013.6695734",
language = "English",
isbn = "9781479911738",
series = "2013 44th International Symposium on Robotics, ISR 2013",
booktitle = "2013 44th International Symposium on Robotics, ISR 2013",
note = "2013 44th IEEE International Symposium on Robotics, ISR 2013 ; Conference date: 24-10-2013 Through 26-10-2013",
}