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Proceedings Paper

Synchronization of mobile robot's actuated wheels
Author(s): Ville Pitkänen; Antti Tikanmäki; Juha Röning
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Paper Abstract

Quintic Bézier splines are capable of dynamic adaptive path changes in curvature continuous fashion. This paper presents a general purpose method for synchronizing the turning and steering rates of a mobile robot’s wheels according to a given velocity profile when traversing a quintic Bézier spline or some other differentiable parametric curve. The presented method is applicable to any positioning of the wheels and a part of a more extensive effort to realize adaptive behavior in real-life wheeled robots. Spatial vector algebra was used with the practical benefit of simplified equations, which made the design and implementation of the synchronization method simpler and easier to implement. This paper gives brief overviews of quintic Bézier splines and spatial vectors. The successful synchronization of wheel motions is demonstrated with two simulated examples.

Paper Details

Date Published: 8 February 2015
PDF: 10 pages
Proc. SPIE 9406, Intelligent Robots and Computer Vision XXXII: Algorithms and Techniques, 940602 (8 February 2015); doi: 10.1117/12.2083574
Show Author Affiliations
Ville Pitkänen, Univ. of Oulu (Finland)
Antti Tikanmäki, Univ. of Oulu (Finland)
Juha Röning, Univ. of Oulu (Finland)


Published in SPIE Proceedings Vol. 9406:
Intelligent Robots and Computer Vision XXXII: Algorithms and Techniques
Juha Röning; David Casasent, Editor(s)

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