TY - JOUR
T1 - Intuitive Planning, Generation, and Tracking of Trajectory for WMR with Mobile Computing Device and Embedded System
AU - Sanchez, Celso Marquez
AU - Hernandez-Guzman, Victor Manuel
AU - Silva-Ortigoza, Ramon
AU - Antonio-Cruz, Mayra
AU - Merlo-Zapata, Carlos Alejandro
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2020
Y1 - 2020
N2 - With the intention of delivering an intuitive and simple platform to plan, generate, and track trajectories with a WMR, this paper presents a technological integration of hardware and software. This technological integration consists of a mobile computing device with an app developed by authors for the trajectory planning and a differential drive WMR that possesses an embedded system, in which a trajectory generation algorithm and a trajectory tracking control algorithm -both proposed by authors - are programmed. The mobile computing device wirelessly drives the WMR through the embedded system. The app is developed on the basis of the sketch approach, since it allows drawing sketches of the trajectory intuitively on the mobile device. Also, the app geometrically scales the sketch coordinates to match them with the real WMR workspace. For the trajectory generation, these scaled coordinates are wirelessly sent to the embedded system, where the trajectory generation algorithm joins them by using Bézier polynomials and concatenation of straight-lines. Hence, the tracking task is carried out with the control algorithm, which is proposed departing from the dynamic model of the WMR and whose asymptotic stability proof is performed with the Lyapunov method. Experimental results verify that the technological integration successfully plans, generates, and tracks trajectories, even when the WMR is far from the initial coordinate of the desired trajectory. These results, corroborate the good performance and robustness of the proposed control algorithm. Thus, the introduced technological integration is intuitive and simple since users only have to draw a sketch on the mobile device to carry out the trajectory tracking task.
AB - With the intention of delivering an intuitive and simple platform to plan, generate, and track trajectories with a WMR, this paper presents a technological integration of hardware and software. This technological integration consists of a mobile computing device with an app developed by authors for the trajectory planning and a differential drive WMR that possesses an embedded system, in which a trajectory generation algorithm and a trajectory tracking control algorithm -both proposed by authors - are programmed. The mobile computing device wirelessly drives the WMR through the embedded system. The app is developed on the basis of the sketch approach, since it allows drawing sketches of the trajectory intuitively on the mobile device. Also, the app geometrically scales the sketch coordinates to match them with the real WMR workspace. For the trajectory generation, these scaled coordinates are wirelessly sent to the embedded system, where the trajectory generation algorithm joins them by using Bézier polynomials and concatenation of straight-lines. Hence, the tracking task is carried out with the control algorithm, which is proposed departing from the dynamic model of the WMR and whose asymptotic stability proof is performed with the Lyapunov method. Experimental results verify that the technological integration successfully plans, generates, and tracks trajectories, even when the WMR is far from the initial coordinate of the desired trajectory. These results, corroborate the good performance and robustness of the proposed control algorithm. Thus, the introduced technological integration is intuitive and simple since users only have to draw a sketch on the mobile device to carry out the trajectory tracking task.
KW - Bézier polynomial
KW - Wheeled mobile robot
KW - embedded system
KW - mobile computing device
KW - sketch approach
KW - tracking control
KW - trajectory generation
KW - trajectory planning
KW - trajectory tracking task
UR - http://www.scopus.com/inward/record.url?scp=85092763776&partnerID=8YFLogxK
U2 - 10.1109/ACCESS.2020.3021057
DO - 10.1109/ACCESS.2020.3021057
M3 - Artículo
AN - SCOPUS:85092763776
SN - 2169-3536
VL - 8
SP - 160627
EP - 160642
JO - IEEE Access
JF - IEEE Access
M1 - 9183923
ER -