Name
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. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1007/978-3-540-74782-6_40 | AI*IA |
Keywords | Field | DocType |
mobile robots,real-time trajectory generation,sketchy path,bezier curve,different environment,computationally effective trajectory generation,novel use,newton method,proposed algorithm,voronoi diagram,curved path,mobile robot,real time | Motion planning,Magnitude (mathematics),Mathematical optimization,Computer science,Algorithm,Bézier curve,Voronoi diagram,Robot,Mobile robot,Trajectory,Newton's method | Conference |
Volume | ISSN | Citations |
4733 | 0302-9743 | 8 |
PageRank | References | Authors |
0.76 | 11 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Alireza Sahraei | 1 | 10 | 1.18 |
| Mohammad Taghi Manzuri | 2 | 18 | 4.78 |
| Mohammad Reza Razvan | 3 | 8 | 1.10 |
| Masoud Tajfard | 4 | 8 | 0.76 |
| Saman Khoshbakht | 5 | 12 | 2.55 |