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Real-time trajectory generation for mobile robots

Sahraei, A ; Sharif University of Technology | 2007

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  1. Type of Document: Article
  2. DOI: 10.1007/978-3-540-74782-6_40
  3. Publisher: Springer Verlag , 2007
  4. Abstract:
  5. This paper presents a computationally effective trajectory generation algorithm for omni-directional mobile robots. This method uses the Voronoi diagram to find a sketchy path that keeps away from obstacles and then smooths this path with a novel use of Bezier curves. This method determines velocity magnitude of a robot along the curved path to meet optimality conditions and dynamic constrains using Newton method. The proposed algorithm has been implemented on real robots, and experimental results in different environments are presented. © Springer-Verlag Berlin Heidelberg 2007
  6. Keywords:
  7. Algorithms ; Constraint theory ; Graph theory ; Real time systems ; Bezier curves ; Dynamic constraints ; Real robots ; Voronoi diagrams ; Mobile robots
  8. Source: 10th Congress of the Italian Association for Artificial Intelligence, AI IA 2007, Rome, 10 September 2007 through 13 September 2007 ; Volume 4733 LNAI , 2007 , Pages 459-470 ; 03029743 (ISSN); 9783540747819 (ISBN)
  9. URL: https://link.springer.com/chapter/10.1007/978-3-540-74782-6_40