Differential Drive Robot: Spline Based Design of Circular Path
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F60162694%3AG43__%2F17%3A00535107" target="_blank" >RIV/60162694:G43__/17:00535107 - isvavai.cz</a>
Result on the web
<a href="http://link.springer.com/chapter/10.1007%2F978-3-319-42408-8_26" target="_blank" >http://link.springer.com/chapter/10.1007%2F978-3-319-42408-8_26</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/978-3-319-42408-8_26" target="_blank" >10.1007/978-3-319-42408-8_26</a>
Alternative languages
Result language
angličtina
Original language name
Differential Drive Robot: Spline Based Design of Circular Path
Original language description
When moving a robot, acceleration of the robot varies. This is an important problem when changes in acceleration are abrupt, all parts of the robot are subjected to these variations. Parts of the robot can bend or damages can appear. When using camera on-board (like RGB-D), you need to put it at a height such that you can see obstacles. Due to acceleration, the camera will swing and you need to stop the robot and wait end of oscillations to take the picture. To avoid this problem on a differentially driven robot (two motors), we need to have a constant rotation of the two wheels. Acceleration should be zero and has to be considered as a constraint. For the purpose of this paper, it is assumed that the robot moves on a path of shape of a circular arc. It should be noted, that circular arc function does not fit all possible paths, which the robot might be required to take. This results in the need for adaptation of the path design and makes computing an optimal path not only an interesting but also an important problem. For its solution the following has to be taken into account: physical features of the robot, dynamics of the robot, and environments where the robot operates. In later sections of this paper, two possible adaptations are presented and discussed. The first one is based on a modification of a known algorithm, while the second on is authors' own contribution to the problematic. Resulting adaptations of the design are then tested and assessed using simulation.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach<br>I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Springer Proceedings in Mathematics & Statistics - Dynamical Systems: Theoretical and Experimental Analysis
ISBN
978-3-319-42407-1
ISSN
2194-1009
e-ISSN
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Number of pages
12
Pages from-to
331-342
Publisher name
Springer International Publishing Switzerland
Place of publication
New York, USA
Event location
Lodz; Poland
Event date
Jan 1, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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