Synchronization of mobile robot's actuated wheels

Ville Pitkänen; Antti Tikanmäki; Juha Röning

doi:10.1117/12.2083574

8 February 2015 Synchronization of mobile robot's actuated wheels

Ville Pitkänen, Antti Tikanmäki, Juha Röning

Proceedings Volume 9406, Intelligent Robots and Computer Vision XXXII: Algorithms and Techniques; 940602 (2015) https://doi.org/10.1117/12.2083574
Event: SPIE/IS&T Electronic Imaging, 2015, San Francisco, California, United States

Abstract

Quintic Bézier splines are capable of dynamic adaptive path changes in curvature continuous fashion. This paper presents a general purpose method for synchronizing the turning and steering rates of a mobile robot’s wheels according to a given velocity profile when traversing a quintic Bézier spline or some other differentiable parametric curve. The presented method is applicable to any positioning of the wheels and a part of a more extensive effort to realize adaptive behavior in real-life wheeled robots. Spatial vector algebra was used with the practical benefit of simplified equations, which made the design and implementation of the synchronization method simpler and easier to implement. This paper gives brief overviews of quintic Bézier splines and spatial vectors. The successful synchronization of wheel motions is demonstrated with two simulated examples.

Citation Download Citation

Ville Pitkänen, Antti Tikanmäki, and Juha Röning "Synchronization of mobile robot's actuated wheels", Proc. SPIE 9406, Intelligent Robots and Computer Vision XXXII: Algorithms and Techniques, 940602 (8 February 2015); https://doi.org/10.1117/12.2083574

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