Mobile Robots at Your Fingertip: Bezier Curve On-line Trajectory Generation for Supervisory Control
Author(s)
Advisor(s)
Editor(s)
Collections
Supplementary to:
Permanent Link
Abstract
A new interfacing method is presented to control
mobile robot(s) in a supervised manner. Mobile robots often
provide global position information to an operator. This research
describes a method whereby the operator controls a mobile
robot(s) using his finger or stylus via a touchpad or touchscreen
interface. Using a mapping between the robot’s operational site
and the input device, a human user can provide routing
information for the mobile robot.
Two algorithms have been developed to create the robot
trajectory from the operator’s input. Information regarding
numerous path points is generated when the operator moves his
finger/stylus. To prune away meaningless point information, a
simple but powerful significant points extracting algorithm is
developed. The resulting significant points are used as
waypoints.
An on-line piecewise cubic Bezier curves (PCBC) trajectory
generation algorithm is presented to create a smooth trajectory
for these significant points. As the method is based on distance
and not on time, the velocity of mobile robot can be controlled
easily within its allowable dynamic range. The PCBC trajectory
can also be modified on the fly. Simulation results are presented
to verify these newly developed methods.
Sponsor
Date
2003
Extent
Resource Type
Text
Resource Subtype
Paper