Obstacle Avoidance using a Near Optimal Trajectory for Omni-directional Mobile Robots
محل انتشار: دوازدهمین کنفرانس سالانه انجمن کامپیوتر ایران
سال انتشار: 1385
نوع سند: مقاله کنفرانسی
زبان: انگلیسی
مشاهده: 1,739
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شناسه ملی سند علمی:
ACCSI12_272
تاریخ نمایه سازی: 23 دی 1386
چکیده مقاله:
This paper presents a computationally effective trajectory generation algorithm for omni-directional mobile robots. In this algorithm we use the Voronoi diagram to find a sketchy path that keeps away from obstacles and then we smooth this path with a novel use of Bezier curves. This algorithm defines velocity magnitude of a robot along the curved path to satisfy optimality conditions and dynamic constrains. The algorithm has been implemented on real robots, and we present experimental results in different environments.
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نویسندگان
Alireza Sahraei
Department of Computer Engineering, Sharif University of Technology, Tehran, Iran
Mohammad Taghi Manzuri
Department of Computer Engineering, Sharif University of Technology, Tehran, Iran
Masoud Tajfard
Department of Computer Engineering, Sharif University of Technology, Tehran, Iran
Saman Khoshbakht
Department of Computer Engineering, Sharif University of Technology, Tehran, Iran