About: Path Planning and Tracking for Robots Based on Cubic Hermite Splines in Real-Time

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	This paper deals with path planning using cubic Hermite splines in real-time control of wheeled robots. The first part describes the filtering and prediction of the robot position. The discrete form of the extended Kalman filter is introduced on the basis of the robot model. The second part shows a computation of trajectories based on Hermite splines. The details of recomputation of the trajectory in each system cycle are mentioned. The velocity profile of the computed trajectory is then determined in order to achieve smooth movement within given physical constraints. A Feedback and feedforward controller is used to control the motion on the calculated trajectory. The paper concludes with a comparison of the trajectory computed by simulation and the trajectory measured on the real robot. This paper deals with path planning using cubic Hermite splines in real-time control of wheeled robots. The first part describes the filtering and prediction of the robot position. The discrete form of the extended Kalman filter is introduced on the basis of the robot model. The second part shows a computation of trajectories based on Hermite splines. The details of recomputation of the trajectory in each system cycle are mentioned. The velocity profile of the computed trajectory is then determined in order to achieve smooth movement within given physical constraints. A Feedback and feedforward controller is used to control the motion on the calculated trajectory. The paper concludes with a comparison of the trajectory computed by simulation and the trajectory measured on the real robot. (en)
Title	Path Planning and Tracking for Robots Based on Cubic Hermite Splines in Real-Time Path Planning and Tracking for Robots Based on Cubic Hermite Splines in Real-Time (en)
skos:prefLabel	Path Planning and Tracking for Robots Based on Cubic Hermite Splines in Real-Time Path Planning and Tracking for Robots Based on Cubic Hermite Splines in Real-Time (en)
skos:notation	RIV/61989100:27240/10:10229289!RIV11-GA0-27240___
http://linked.open...avai/riv/aktivita	P
http://linked.open...avai/riv/aktivity	P(GA102/08/1429)
http://linked.open...vai/riv/dodaniDat	2011
http://linked.open...aciTvurceVysledku	Wágner, Petr Kotzian, Jiří Kordas, Jan Michna, Viktor
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Vysoká škola báňská - Technická univerzita Ostrava / Fakulta elektrotechniky a informatiky
http://linked.open...dnocenehoVysledku	278251
http://linked.open...ai/riv/idVysledku	RIV/61989100:27240/10:10229289
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	trajectory planning, spline, mobile robot (en)
http://linked.open.../riv/klicoveSlovo	trajectory planning spline mobile robot
http://linked.open...ontrolniKodProRIV	[14108D6907D3]
http://linked.open...v/mistoKonaniAkce	Bilbao, Spain
http://linked.open...i/riv/mistoVydani	Piscataway, NJ
http://linked.open...i/riv/nazevZdroje	Proceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation
http://linked.open...in/vavai/riv/obor	JD
http://linked.open...ichTvurcuVysledku	4 (xsd:int)
http://linked.open...cetTvurcuVysledku	4 (xsd:int)
http://linked.open...vavai/riv/projekt	Safety and security of networked embedded system applications
http://linked.open...UplatneniVysledku	2010
http://linked.open...iv/tvurceVysledku	Kotzian, Jiří Wágner, Petr Kordas, Jan Michna, Viktor
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2010-09-13 (xsd:date)
issn	1946-0740
number of pages	8 (xsd:int)
http://purl.org/ne...btex#hasPublisher	IEEE Conference Publishing Services
https://schema.org/isbn	978-1-4244-6850-8
http://localhost/t...ganizacniJednotka	27240

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