Obstacle Avoidance using a Near Optimal Trajectory for Omni-directional Mobile Robots

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.

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