Name
Abstract | ||
|---|---|---|
This work presents a method to generate dynamically feasible trajectories for a balancing robot in the presence of obstacles, both static and moving. Intended for use on a ballbot, these trajectories respect the dynamics of the robot, and can be generated in milliseconds. Trajectories were experimentally verified on the ballbot in unstructured indoor environments at speeds up to .7 m/s and distances of up to 25 m. The method presented provides a tractable solution for indoor ballbot navigation, enabling safe movement through unstructured environments. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/IROS.2014.6943072 | Intelligent Robots and Systems |
Keywords | Field | DocType |
collision avoidance,mobile robots,robot dynamics,safety,stability,trajectory control,dynamic stability,dynamic trajectory planning,indoor ballbot navigation,mobile robot,movement safety,obstacles,robot balancing,robot dynamics | Robot control,Robot calibration,Simulation,Computer science,Robot kinematics,Control engineering,Mobile robot navigation,Mobile robot,Trajectory planning,Articulated robot | Conference |
ISSN | Citations | PageRank |
2153-0858 | 2 | 0.42 |
References | Authors | |
7 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Michael Shomin | 1 | 12 | 1.76 |
| Ralph L. Hollis | 2 | 682 | 143.29 |