Path Planning and Tracking for Robots Based on Cubic Hermite Splines in Real-Time
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F10%3A10229289" target="_blank" >RIV/61989100:27240/10:10229289 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Path Planning and Tracking for Robots Based on Cubic Hermite Splines in Real-Time
Original language description
This paper deals with path planning using cubic Hermite splines in real-time control of wheeled robots. The first part describes the filtering and prediction of the robot position. The discrete form of the extended Kalman filter is introduced on the basis of the robot model. The second part shows a computation of trajectories based on Hermite splines. The details of recomputation of the trajectory in each system cycle are mentioned. The velocity profile of the computed trajectory is then determined in order to achieve smooth movement within given physical constraints. A Feedback and feedforward controller is used to control the motion on the calculated trajectory. The paper concludes with a comparison of the trajectory computed by simulation and the trajectory measured on the real robot.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GA102%2F08%2F1429" target="_blank" >GA102/08/1429: Safety and security of networked embedded system applications</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2010
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation
ISBN
978-1-4244-6850-8
ISSN
1946-0740
e-ISSN
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Number of pages
8
Pages from-to
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Publisher name
IEEE Conference Publishing Services
Place of publication
Piscataway, NJ
Event location
Bilbao, Spain
Event date
Sep 13, 2010
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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