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TUTCRIS

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

Tutkimustuotosvertaisarvioitu

Yksityiskohdat

AlkuperäiskieliEnglanti
OtsikkoLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
KustantajaSpringer Verlag
Sivut303-309
Sivumäärä7
Vuosikerta9287
ISBN (painettu)9783319224152
DOI - pysyväislinkit
TilaJulkaistu - 2015
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaTOWARDS AUTONOMOUS ROBOTIC SYSTEMS CONFERENCE -
Kesto: 1 tammikuuta 1900 → …

Julkaisusarja

NimiLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Vuosikerta9287
ISSN (painettu)0302-9743
ISSN (elektroninen)1611-3349

Conference

ConferenceTOWARDS AUTONOMOUS ROBOTIC SYSTEMS CONFERENCE
Ajanjakso1/01/00 → …

Tiivistelmä

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.