Research Repository

Bézier curve based trajectory planning for an intelligent wheelchair to pass a doorway

Chen, L and Wang, S and Hu, H and McDonald-Maier, K (2012) Bézier curve based trajectory planning for an intelligent wheelchair to pass a doorway. In: UNSPECIFIED, ? - ?.

Full text not available from this repository.

Abstract

Door passing is the basic capability of an intelligent wheelchair. This paper presents a novel approach to address the door passing issue using Bézier curve based trajectory planning. The planed path consists of two segments: one from corridor to door and the other from door to the goal position. For each segment, an optimal Bézier curve is generated as a reference trajectory for an intelligent wheelchair to travel smoothly and accurately subject to corridor constraints, curvature limitation and obstacles. The simulation is conducted to verify the feasibility of the proposed approach, and the results show a good performance in terms of tracking accuracy and good maneuverability. © 2012 IEEE.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published proceedings: Proceedings of the 2012 UKACC International Conference on Control, CONTROL 2012
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health > Computer Science and Electronic Engineering, School of
Depositing User: Users 161 not found.
Date Deposited: 12 Jan 2015 13:46
Last Modified: 17 Aug 2017 17:52
URI: http://repository.essex.ac.uk/id/eprint/9201

Actions (login required)

View Item View Item