Generic trajectory representation and trajectory following for wheeled robots

Morten Kjærgaard; Nils Axel Andersen; Ole Ravn

doi:10.1109/ICRA.2014.6907451

Generic trajectory representation and trajectory following for wheeled robots

Morten Kjærgaard, Nils Axel Andersen, Ole Ravn

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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
Title of host publication	2014 IEEE International Conference on Robotics and Automation
Publisher	IEEE
Publication date	2014
Pages	4073-4080
ISBN (Print)	9781479936854
DOIs	https://doi.org/10.1109/ICRA.2014.6907451
Publication status	Published - 2014
Event	2014 IEEE International Conference on Robotics & Automation - Hong Kong Convention and Exhibition Center, Hong Kong, Hong Kong Duration: 31 May 2014 → 7 Jun 2014

Conference

Conference	2014 IEEE International Conference on Robotics & Automation
Location	Hong Kong Convention and Exhibition Center
Country/Territory	Hong Kong
City	Hong Kong
Period	31/05/2014 → 07/06/2014

Keywords

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

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10.1109/ICRA.2014.6907451

Cite this

@inproceedings{6f8a92830ae849cc94f88f5de27fb303,

title = "Generic trajectory representation and trajectory following for wheeled robots",

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 B{\"e}zier 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.",

keywords = "Robotics and Control Systems, Collision avoidance, Mobile robots, Navigation, Robot kinematics, Trajectory, Wheels",

author = "Morten Kj{\ae}rgaard and Andersen, {Nils Axel} and Ole Ravn",

year = "2014",

doi = "10.1109/ICRA.2014.6907451",

language = "English",

isbn = "9781479936854",

pages = "4073--4080",

booktitle = "2014 IEEE International Conference on Robotics and Automation",

publisher = "IEEE",

address = "United States",

note = "2014 IEEE International Conference on Robotics & Automation, 2014 ICRA ; Conference date: 31-05-2014 Through 07-06-2014",

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T1 - Generic trajectory representation and trajectory following for wheeled robots

AU - Kjærgaard, Morten

AU - Andersen, Nils Axel

AU - Ravn, Ole

PY - 2014

Y1 - 2014

N2 - 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.

AB - 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.

KW - Robotics and Control Systems

KW - Collision avoidance

KW - Mobile robots

KW - Navigation

KW - Robot kinematics

KW - Trajectory

KW - Wheels

U2 - 10.1109/ICRA.2014.6907451

DO - 10.1109/ICRA.2014.6907451

M3 - Article in proceedings

SN - 9781479936854

SP - 4073

EP - 4080

BT - 2014 IEEE International Conference on Robotics and Automation

PB - IEEE

T2 - 2014 IEEE International Conference on Robotics & Automation

Y2 - 31 May 2014 through 7 June 2014

ER -

Generic trajectory representation and trajectory following for wheeled robots

Abstract

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Keywords

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