Generic trajectory representation and trajectory following for wheeled robots

Morten Kjærgaard, Nils Axel Andersen, Ole Ravn

    Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-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 languageEnglish
    Title of host publication2014 IEEE International Conference on Robotics and Automation
    PublisherIEEE
    Publication date2014
    Pages4073-4080
    ISBN (Print)9781479936854
    DOIs
    Publication statusPublished - 2014
    Event2014 IEEE International Conference on Robotics and Automation - Hong Kong Convention and Exhibition Center, Hong Kong, Hong Kong
    Duration: 31 May 20145 Jun 2014
    https://ewh.ieee.org/soc/ras/conf/fullysponsored/icra/2014/www6.cityu.edu.hk/icra2014/index.html

    Conference

    Conference2014 IEEE International Conference on Robotics and Automation
    LocationHong Kong Convention and Exhibition Center
    Country/TerritoryHong Kong
    CityHong Kong
    Period31/05/201405/06/2014
    Internet address

    Keywords

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

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