Abstract
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 language | English |
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Title of host publication | 2014 IEEE International Conference on Robotics and Automation |
Publisher | IEEE |
Publication date | 2014 |
Pages | 4073-4080 |
ISBN (Print) | 9781479936854 |
DOIs | |
Publication status | Published - 2014 |
Event | 2014 IEEE International Conference on Robotics and Automation - Hong Kong Convention and Exhibition Center, Hong Kong, Hong Kong Duration: 31 May 2014 → 5 Jun 2014 https://ewh.ieee.org/soc/ras/conf/fullysponsored/icra/2014/www6.cityu.edu.hk/icra2014/index.html |
Conference
Conference | 2014 IEEE International Conference on Robotics and Automation |
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Location | Hong Kong Convention and Exhibition Center |
Country/Territory | Hong Kong |
City | Hong Kong |
Period | 31/05/2014 → 05/06/2014 |
Internet address |
Keywords
- Robotics and Control Systems
- Collision avoidance
- Mobile robots
- Navigation
- Robot kinematics
- Trajectory
- Wheels