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Statements

Subject Item
n2:RIV%2F61989100%3A27240%2F10%3A10229289%21RIV11-GA0-27240___
rdf:type
n13:Vysledek skos:Concept
dcterms: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.
dcterms: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
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
skos:notation
RIV/61989100:27240/10:10229289!RIV11-GA0-27240___
n3:aktivita
n12:P
n3:aktivity
P(GA102/08/1429)
n3:dodaniDat
n4:2011
n3:domaciTvurceVysledku
n6:1860399 n6:9089128 n6:8220123 n6:2272555
n3:druhVysledku
n15:D
n3:duvernostUdaju
n5:S
n3:entitaPredkladatele
n19:predkladatel
n3:idSjednocenehoVysledku
278251
n3:idVysledku
RIV/61989100:27240/10:10229289
n3:jazykVysledku
n14:eng
n3:klicovaSlova
trajectory planning, spline, mobile robot
n3:klicoveSlovo
n10:mobile%20robot n10:spline n10:trajectory%20planning
n3:kontrolniKodProRIV
[14108D6907D3]
n3:mistoKonaniAkce
Bilbao, Spain
n3:mistoVydani
Piscataway, NJ
n3:nazevZdroje
Proceedings of the 15th IEEE International Conference on Emerging Technologies and Factory Automation
n3:obor
n7:JD
n3:pocetDomacichTvurcuVysledku
4
n3:pocetTvurcuVysledku
4
n3:projekt
n20:GA102%2F08%2F1429
n3:rokUplatneniVysledku
n4:2010
n3:tvurceVysledku
Kordas, Jan Wágner, Petr Kotzian, Jiří Michna, Viktor
n3:typAkce
n16:WRD
n3:zahajeniAkce
2010-09-13+02:00
s:issn
1946-0740
s:numberOfPages
8
n17:hasPublisher
IEEE Conference Publishing Services
n9:isbn
978-1-4244-6850-8
n21:organizacniJednotka
27240