Optimal Velocity Planning of Wheeled Mobile Robots on Specific Paths in Static and Dynamic Environments

Prado, María; Simón, A.; Carabias, Enrique; Pérez, Alexeide Castillo; Ezquerro, Francisco

doi:10.1002/rob.10120

Cited by 16 publications

(12 citation statements)

References 21 publications

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“…The current research usually considers a pre-determined path, although dynamic modification of the path can be carried out to deal with a dynamic environment. 46 However, in a distributed sensor environment, the local views of individual sensors and the asynchrony among them make a sensor node difficult to have steady information about the whole R-snake. A local path growing mechanism, i.e.…”

Section: A-snake As a Trackermentioning

confidence: 99%

A snake-based scheme for path planning and control with constraints by distributed visual sensors

Cheng

Jiang

2013

Robotica

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SUMMARYThis paper proposes a robot navigation scheme using wireless visual sensors deployed in an environment. Different from the conventional autonomous robot approaches, the scheme intends to relieve massive on-board information processing required by a robot to its environment so that a robot or a vehicle with less intelligence can exhibit sophisticated mobility. A three-state snake mechanism is developed for coordinating a series of sensors to form a reference path. Wireless visual sensors communicate internal forces with each other along the reference snake for dynamic adjustment, react to repulsive forces from obstacles, and activate a state change in the snake body from a flexible state to a rigid or even to a broken state due to kinematic or environmental constraints. A control snake is further proposed as a tracker of the reference path, taking into account the robot's non-holonomic constraint and limited steering power. A predictive control algorithm is developed to have an optimal velocity profile under robot dynamic constraints for the snake tracking. They together form a unified solution for robot navigation by distributed sensors to deal with the kinematic and dynamic constraints of a robot and to react to dynamic changes in advance. Simulations and experiments demonstrate the capability of a wireless sensor network to carry out low-level control activities for a vehicle.

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Section: A-snake As a Trackermentioning

confidence: 99%

A snake-based scheme for path planning and control with constraints by distributed visual sensors

Cheng

Jiang

2013

Robotica

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“…For example, Munoz et al [4] derive the maximum robot speed, acceleration, and deceleration from motor and brake system specifications. Prado et al [5,6] include speed and acceleration limits resulting from predicted motor temperature and battery power. Other schedulers predict lateral accelerations, friction forces, and weight transfers to constrain the speed based on slip and path-tracking error limits [5,7,8].…”

Section: Introductionmentioning

confidence: 99%

“…Prado et al [5,6] include speed and acceleration limits resulting from predicted motor temperature and battery power. Other schedulers predict lateral accelerations, friction forces, and weight transfers to constrain the speed based on slip and path-tracking error limits [5,7,8]. In each of these papers, detailed models of the robot and environment are required to generate the appropriate speed or acceleration limits.…”

Section: Introductionmentioning

confidence: 99%

“…This gives our system the ability to slow down before encountering challenging sections of the path, rather than behaving reactively. Finally, in some speed schedulers, the speed is also determined in real-time in order to prevent collisions with dynamic obstacles [1,5,7]. In these cases, it is assumed that the dynamic obstacle is travelling across the path and therefore waiting a few moments will result in a clear path.…”

Section: Introductionmentioning

confidence: 99%

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Speed Daemon: Experience-Based Mobile Robot Speed Scheduling

Ostafew

Schoellig

Barfoot

et al. 2014

2014 Canadian Conference on Computer and Robot Vision

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A time-optimal speed schedule results in a mobile robot driving along a planned path at or near the limits of the robot's capability. However, deriving models to predict the effect of increased speed can be very difficult. In this paper, we present a speed scheduler that uses previous experience, instead of complex models, to generate time-optimal speed schedules. The algorithm is designed for a vision-based, path-repeating mobile robot and uses experience to ensure reliable localization, low path-tracking errors, and realizable control inputs while maximizing the speed along the path. To our knowledge, this is the first speed scheduler to incorporate experience from previous path traversals in order to address system constraints.The proposed speed scheduler was tested in over 4 km of path traversals in outdoor terrain using a large Ackermann-steered robot travelling between 0.5 m/s and 2.0 m/s. The approach to speed scheduling is shown to generate fast speed schedules while remaining within the limits of the robot's capability.

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“…In fact, these constraints are often neglected by many authors. Alternatively, previous work in the field of mobile robotics exclusively considers velocity parameters [5,9] or acceleration limits [6,10] whilst ignoring the other constraint.…”

Section: Introduction and Related Workmentioning

confidence: 99%

Trajectory Generation and Control for a High-DOF Articulated Robot with Dynamic Constraints

Spirig

Kaestner

Vasquez

et al. 2010

KI 2010: Advances in Artificial Intelligence

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In this paper, we propose a novel and alternative approach to the task of generating trajectories for an articulated robot with dynamic constraints. We demonstrate that by focusing the effort on the generation process, the design of a trajectory controller becomes a straightforward problem. Our method is efficient and particularly suited for applications involving high-DOF articulated systems such as robotics arms or legs. We claim that our algorithm can be easily implemented by roboticists that do not share a deep background in control theory. Nevertheless, the resulting trajectories ensure a robust state-of-the-art control performance. We show, in simulation and practice, that the approach is well prepared for integration with graph-based planning techniques and yields smooth trajectories.

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Optimal Velocity Planning of Wheeled Mobile Robots on Specific Paths in Static and Dynamic Environments

Cited by 16 publications

References 21 publications

A snake-based scheme for path planning and control with constraints by distributed visual sensors

A snake-based scheme for path planning and control with constraints by distributed visual sensors

Speed Daemon: Experience-Based Mobile Robot Speed Scheduling

Trajectory Generation and Control for a High-DOF Articulated Robot with Dynamic Constraints

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