Trajectory Generation for Wheeled Mobile Robots Via Bézier Polynomials

C. M. Sánchez; J. R.G. Sánchez; C. Y.S. Cervantes; R. S. Ortigoza; V. M.H. Guzmán; J. N.A. Juárez; M. M. Aranda

doi:10.1109/TLA.2016.7795818

Trajectory Generation for Wheeled Mobile Robots Via Bézier Polynomials

C. M. Sánchez, J. R.G. Sánchez, C. Y.S. Cervantes, R. S. Ortigoza, V. M.H. Guzmán, J. N.A. Juárez, M. M. Aranda

Centro de Innovación y Desarrollo Tecnológico en Cómputo (CIDETEC)

Research output: Contribution to journal › Article › peer-review

10 Scopus citations

Abstract

In this paper, a proposal for trajectory generation especially well-suited for wheeled mobile robots (WMRs) is presented. In this proposal (PVLAVPB) linear and angular velocities of the WMR are specified as Bézier polynomials. The PVLAVPB is able to generate smooth complex shapes, which would involve more complicated mathematical algorithms if other trajectory generation methods were used. Also, this proposal helps to avoid slipping and skidding of the WMR, since smooth starting and braking can be achieved proposing suitable linear and angular velocities. The generated trajectory is introduced in a hierarchical controller that solves the trajectory tracking task in a differential drive WMR. The experimental validation of the PVLAVPB is carried out via Matlab-Simulink along with a DS1104 board, obtaining satisfactory results.

Original language	English
Article number	7795818
Pages (from-to)	4482-4490
Number of pages	9
Journal	IEEE Latin America Transactions
Volume	14
Issue number	11
DOIs	https://doi.org/10.1109/TLA.2016.7795818
State	Published - Nov 2016

Keywords

Bézier polynomials
Hierarchical control
Robotics
Trajectory generation
Trajectory tracking
Wheeled mobile robot

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10.1109/TLA.2016.7795818

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@article{1934b2c9ebce4b35818e97d785b8e1b6,

title = "Trajectory Generation for Wheeled Mobile Robots Via B{\'e}zier Polynomials",

abstract = "In this paper, a proposal for trajectory generation especially well-suited for wheeled mobile robots (WMRs) is presented. In this proposal (PVLAVPB) linear and angular velocities of the WMR are specified as B{\'e}zier polynomials. The PVLAVPB is able to generate smooth complex shapes, which would involve more complicated mathematical algorithms if other trajectory generation methods were used. Also, this proposal helps to avoid slipping and skidding of the WMR, since smooth starting and braking can be achieved proposing suitable linear and angular velocities. The generated trajectory is introduced in a hierarchical controller that solves the trajectory tracking task in a differential drive WMR. The experimental validation of the PVLAVPB is carried out via Matlab-Simulink along with a DS1104 board, obtaining satisfactory results.",

keywords = "B{\'e}zier polynomials, Hierarchical control, Robotics, Trajectory generation, Trajectory tracking, Wheeled mobile robot",

author = "S{\'a}nchez, {C. M.} and S{\'a}nchez, {J. R.G.} and Cervantes, {C. Y.S.} and Ortigoza, {R. S.} and Guzm{\'a}n, {V. M.H.} and Ju{\'a}rez, {J. N.A.} and Aranda, {M. M.}",

note = "Publisher Copyright: {\textcopyright} 2003-2012 IEEE.",

year = "2016",

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doi = "10.1109/TLA.2016.7795818",

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AU - Sánchez, C. M.

AU - Sánchez, J. R.G.

AU - Cervantes, C. Y.S.

AU - Ortigoza, R. S.

AU - Guzmán, V. M.H.

AU - Juárez, J. N.A.

AU - Aranda, M. M.

PY - 2016/11

Y1 - 2016/11

N2 - In this paper, a proposal for trajectory generation especially well-suited for wheeled mobile robots (WMRs) is presented. In this proposal (PVLAVPB) linear and angular velocities of the WMR are specified as Bézier polynomials. The PVLAVPB is able to generate smooth complex shapes, which would involve more complicated mathematical algorithms if other trajectory generation methods were used. Also, this proposal helps to avoid slipping and skidding of the WMR, since smooth starting and braking can be achieved proposing suitable linear and angular velocities. The generated trajectory is introduced in a hierarchical controller that solves the trajectory tracking task in a differential drive WMR. The experimental validation of the PVLAVPB is carried out via Matlab-Simulink along with a DS1104 board, obtaining satisfactory results.

AB - In this paper, a proposal for trajectory generation especially well-suited for wheeled mobile robots (WMRs) is presented. In this proposal (PVLAVPB) linear and angular velocities of the WMR are specified as Bézier polynomials. The PVLAVPB is able to generate smooth complex shapes, which would involve more complicated mathematical algorithms if other trajectory generation methods were used. Also, this proposal helps to avoid slipping and skidding of the WMR, since smooth starting and braking can be achieved proposing suitable linear and angular velocities. The generated trajectory is introduced in a hierarchical controller that solves the trajectory tracking task in a differential drive WMR. The experimental validation of the PVLAVPB is carried out via Matlab-Simulink along with a DS1104 board, obtaining satisfactory results.

KW - Bézier polynomials

KW - Hierarchical control

KW - Robotics

KW - Trajectory generation

KW - Trajectory tracking

KW - Wheeled mobile robot

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DO - 10.1109/TLA.2016.7795818

M3 - Artículo

SN - 1548-0992

VL - 14

SP - 4482

EP - 4490

JO - IEEE Latin America Transactions

JF - IEEE Latin America Transactions

IS - 11

M1 - 7795818

ER -

Trajectory Generation for Wheeled Mobile Robots Via Bézier Polynomials

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Keywords

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