Generic trajectory representation and trajectory following for wheeled robots

Morten Kjærgaard, Nils Axel Andersen, Ole Ravn

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review


This article presents the work towards a purely generic navigation solution for wheeled mobile robots motivated by the following goals: Generic: Works for different types of robots. Configurable: Parameters maps to geometric properties of the robot. Predictable: Well defined where the robot will drive. Safe: Avoid fatal collisions. Based on a survey of existing methods and algorithms the article presents a generic way to represent constraints for different types of robots, a generic way to represent trajectories using Bëzier curves, a method to convert the trajectory so it can be driven in a smooth motion, a method to create a safe velocity profile for the robot, and a path following controller.
Original languageEnglish
Title of host publication2014 IEEE International Conference on Robotics and Automation
Publication date2014
ISBN (Print)9781479936854
Publication statusPublished - 2014
Event2014 IEEE International Conference on Robotics & Automation - Hong Kong Convention and Exhibition Center, Hong Kong, Hong Kong
Duration: 31 May 20147 Jun 2014


Conference2014 IEEE International Conference on Robotics & Automation
LocationHong Kong Convention and Exhibition Center
CountryHong Kong
CityHong Kong


  • Robotics and Control Systems
  • Collision avoidance
  • Mobile robots
  • Navigation
  • Robot kinematics
  • Trajectory
  • Wheels

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