Trajectory Generation for Wheeled Mobile Robots Via Bezier Polynomials

被引：7

作者：

Sanchez, C. M. ^{[1
]}

Sanchez, J. R. G. ^{[1
]}

Cervantes, C. Y. S. ^{[1
]}

Ortigoza, R. S. ^{[1
]}

Guzman, V. M. H. ^{[1
]}

Juarez, J. N. A. ^{[1
]}

Aranda, M. M. ^{[2
]}

机构：

[1] Inst Politecn Nacl, CIDETEC, Area Mecatron, Mexico City, DF, Mexico

[2] Inst Politecn Nacl, UPIICSA, SEPI, Mexico City, DF, Mexico

来源：

IEEE LATIN AMERICA TRANSACTIONS | 2016年 / 14卷 / 11期

关键词：

Trajectory generation; Bezier polynomials; Trajectory tracking; Robotics; Wheeled mobile robot; Hierarchical control; TRACKING CONTROL; IMPLEMENTATION; CONTROLLER; DYNAMICS; DESIGN; SYSTEM;

D O I：

10.1109/TLA.2016.7795818

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a proposal for trajectory generation especially well-suited for wheeled mobile robots (WMRs) is presented. In this proposal (PVLAVPB) linear and angular velocities of the WMR are specified as Bezier polynomials. The PVLAVPB is able to generate smooth complex shapes, which would involve more complicated mathematical algorithms if other trajectory generation methods were used. Also, this proposal helps to avoid slipping and skidding of the WMR, since smooth starting and braking can be achieved proposing suitable linear and angular velocities. The generated trajectory is introduced in a hierarchical controller that solves the trajectory tracking task in a differential drive WMR. The experimental validation of the PVLAVPB is carried out via Matlab-Simulink along with a DS1104 board, obtaining satisfactory results.

引用

页码：4482 / 4490

页数：9

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