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

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Standard

Vision-based trajectories planning for four wheels independently steered mobile robots with maximum allowable velocities. / Ziaei, Zahra; Oftadeh, Reza; Mattila, Jouni.

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vuosikerta 9287 Springer Verlag, 2015. s. 303-309 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vuosikerta 9287).

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Harvard

Ziaei, Z, Oftadeh, R & Mattila, J 2015, Vision-based trajectories planning for four wheels independently steered mobile robots with maximum allowable velocities. julkaisussa Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vuosikerta. 9287, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Vuosikerta. 9287, Springer Verlag, Sivut 303-309, TOWARDS AUTONOMOUS ROBOTIC SYSTEMS CONFERENCE, 1/01/00. https://doi.org/10.1007/978-3-319-22416-9_34

APA

Ziaei, Z., Oftadeh, R., & Mattila, J. (2015). Vision-based trajectories planning for four wheels independently steered mobile robots with maximum allowable velocities. teoksessa Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vuosikerta 9287, Sivut 303-309). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vuosikerta 9287). Springer Verlag. https://doi.org/10.1007/978-3-319-22416-9_34

Vancouver

Ziaei Z, Oftadeh R, Mattila J. Vision-based trajectories planning for four wheels independently steered mobile robots with maximum allowable velocities. julkaisussa Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vuosikerta 9287. Springer Verlag. 2015. s. 303-309. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). https://doi.org/10.1007/978-3-319-22416-9_34

Author

Ziaei, Zahra ; Oftadeh, Reza ; Mattila, Jouni. / Vision-based trajectories planning for four wheels independently steered mobile robots with maximum allowable velocities. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics). Vuosikerta 9287 Springer Verlag, 2015. Sivut 303-309 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

Bibtex - Lataa

@inproceedings{92f42dfca8f74a9cbbc5a4292e93b5b6,
title = "Vision-based trajectories planning for four wheels independently steered mobile robots with maximum allowable velocities",
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",
author = "Zahra Ziaei and Reza Oftadeh and Jouni Mattila",
year = "2015",
doi = "10.1007/978-3-319-22416-9_34",
language = "English",
isbn = "9783319224152",
volume = "9287",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "303--309",
booktitle = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
address = "Germany",

}

RIS (suitable for import to EndNote) - Lataa

TY - GEN

T1 - Vision-based trajectories planning for four wheels independently steered mobile robots with maximum allowable velocities

AU - Ziaei, Zahra

AU - Oftadeh, Reza

AU - Mattila, Jouni

PY - 2015

Y1 - 2015

N2 - 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.

AB - 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.

KW - Driving velocity planning

KW - Steering velocity planning

KW - Trajectories planning

KW - Vision-based

UR - http://www.scopus.com/inward/record.url?scp=84947080299&partnerID=8YFLogxK

U2 - 10.1007/978-3-319-22416-9_34

DO - 10.1007/978-3-319-22416-9_34

M3 - Conference contribution

SN - 9783319224152

VL - 9287

T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

SP - 303

EP - 309

BT - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

PB - Springer Verlag

ER -