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Vision-based trajectories planning for four wheels independently steered mobile robots with maximum allowable velocities

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

Details

Original languageEnglish
Title of host publicationLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
PublisherSpringer Verlag
Pages303-309
Number of pages7
Volume9287
ISBN (Print)9783319224152
DOIs
Publication statusPublished - 2015
Publication typeA4 Article in a conference publication
EventTowards Autonomous Robotic Systems -
Duration: 1 Jan 1900 → …

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9287
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

ConferenceTowards Autonomous Robotic Systems
Period1/01/00 → …

Abstract

In this paper, we extend our previous work to introduce a novel vision-based trajectories planning method for four-wheel-steered mobile robots. Relying only on the overhead camera and by utilizing artificial potential fields and visual servoing concepts, we simultaneously, generate the synchronized trajectories for all wheels in the world coordinates with sufficient number of trajectories midpoints. The synchronized trajectories are used to provide the robot’s kinematic variables and robotinstantaneous-center of rotation to reduce the complexity of the robot kinematic model. Therefore, we plan maximum allowable velocities for all wheels so that at least one of the actuators is always working at maximum velocity. Experiment results are presented to illustrate the efficiency of the proposed method for four-wheel-steered mobile robot called iMoro.

Keywords

  • Driving velocity planning, Steering velocity planning, Trajectories planning, Vision-based

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