Bezier 곡선을 이용한 이륜 구동 로봇의 경로 생성

Trajectory Generation of Two Wheeled Mobile Robot using Bezier Curve

This paper describe a trajectory generation method for a two-wheeled mobile robot using cubic Bezier curve. It is proposed that the method to determine the location of control points which mainly affect the shape of curve, and constrains for two-wheeled mobile are examined. Simulation results show its traceability of the trajectory of mobile robot.