Abstract
This paper presents a computationally effective trajectory generation algorithm for omni-directional mobile robots. This method uses the Voronoi diagram to find a sketchy path that keeps away from obstacles and then smooths this path with a novel use of Bezier curves. This method determines velocity magnitude of a robot along the curved path to meet optimality conditions and dynamic constrains using Newton method. The proposed algorithm has been implemented on real robots, and experimental results in different environments are presented.
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Sahraei, A., Manzuri, M.T., Razvan, M.R., Tajfard, M., Khoshbakht, S. (2007). Real-Time Trajectory Generation for Mobile Robots. In: Basili, R., Pazienza, M.T. (eds) AI*IA 2007: Artificial Intelligence and Human-Oriented Computing. AI*IA 2007. Lecture Notes in Computer Science(), vol 4733. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74782-6_40
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DOI: https://doi.org/10.1007/978-3-540-74782-6_40
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74781-9
Online ISBN: 978-3-540-74782-6
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