Tracking motion of mobile robot for moving target using NURBS curve

摘要

This paper presents a new approach to tracking the moving target with mobile robot. The task is difficult since the mobile robot has nonholonomic constraint. Considering the constraint of motion of the mobile robot, it is thought that planning trajectory which the robot can follow is indispensable for wheeled type mobile robot control. Thus, in this research, the new control method for tracking the moving target based on trajectory planning is proposed. The NURBS curve is used for trajectory planning. The continuity to second derivative and convex hull which are the characteristics of the NURBS curve is the best for trajectory planning of the mobile robot. By this method, higher efficient tracking is realized. The validity of the proposed method is confirmed by simulations.