Venkatesh K.S.

DMP Based Trajectory Tracking for a Nonholonomic Mobile Robot With Automatic Goal Adaptation and Obstacle Avoidance

Dynamic Movement Primitive (DMP) which is popular for motion planning of a robot manipulator, has been adapted for a nonholonomic mobile robot to track the desired trajectory. DMP is a simple damped spring model with a forcing function, which learns the trajectory. The damped spring model attracts t…