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مشاهده‌ مشخصات مقاله

Obstacle Avoidance using a Near Optimal Trajectory for Omni-directional Mobile Robots

Authors
  • Alireza Sahraei
  • Mohammad Taghi Manzuri
  • Masoud Tajfard
  • Saman Khoshbakht
Conference دوازدهمین کنفرانس بین‌المللی سالانه انجمن کامپیوتر ایران
Abstract This paper presents a computationally effective trajectory generation algorithm for omni-directional mobile robots. In this algorithm we use the Voronoi diagram to find a sketchy path that keeps away from obstacles and then we smooth this path with a novel use of Bezier curves. This algorithm defines velocity magnitude of a robot along the curved path to satisfy optimality conditions and dynamic constrains. The algorithm has been implemented on real robots, and we present experimental results in different environments.
قیمت
  • برای اعضای سایت : 100,000 Rial
  • برای دانشجویان عضو انجمن : 20,000 Rial
  • برای اعضای عادی انجمن : 40,000 Rial

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