All

What are you looking for?

All
Projects
Results
Organizations

Quick search

  • Projects supported by TA ČR
  • Excellent projects
  • Projects with the highest public support
  • Current projects

Smart search

  • That is how I find a specific +word
  • That is how I leave the -word out of the results
  • “That is how I can find the whole phrase”

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

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • OECD FORD branch

    20204 - Robotics and automatic control

Result continuities

  • Project

  • 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

  • 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