مشاهده مشخصات مقاله
Obstacle Avoidance using a Near Optimal Trajectory for Omni-directional Mobile Robots
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نویسنده (ها) |
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Alireza Sahraei
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Mohammad Taghi Manzuri
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Masoud Tajfard
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Saman Khoshbakht
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مربوط به کنفرانس |
دوازدهمین کنفرانس بینالمللی سالانه انجمن کامپیوتر ایران |
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چکیده |
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. |
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قیمت |
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برای اعضای سایت : ۱٠٠,٠٠٠ ریال
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برای دانشجویان عضو انجمن : ۲٠,٠٠٠ ریال
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برای اعضای عادی انجمن : ۴٠,٠٠٠ ریال
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خرید مقاله
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