Differential Drive Robot: Spline Based Design of Circular Path

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Differential Drive Robot: Spline Based Design of Circular Path

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Differential Drive Robot: Spline Based Design of Circular Path

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach<br>I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2017

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Springer Proceedings in Mathematics & Statistics - Dynamical Systems: Theoretical and Experimental Analysis

ISBN

978-3-319-42407-1

ISSN

2194-1009

e-ISSN

—

Počet stran výsledku

12

Strana od-do

331-342

Název nakladatele

Springer International Publishing Switzerland

Místo vydání

New York, USA

Místo konání akce

Lodz; Poland

Datum konání akce

1. 1. 2015

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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