سال انتشار: ۱۳۸۵

محل انتشار: دوازدهمین کنفرانس سالانه انجمن کامپیوتر ایران

تعداد صفحات: ۵

نویسنده(ها):

Alireza Sahraei – Department of Computer Engineering, Sharif University of Technology, Tehran, Iran
Mohammad Taghi Manzuri – Department of Computer Engineering, Sharif University of Technology, Tehran, Iran
Masoud Tajfard – Department of Computer Engineering, Sharif University of Technology, Tehran, Iran
Saman Khoshbakht – Department of Computer Engineering, Sharif University of Technology, Tehran, Iran

چکیده:

This paper presents a computationally effective trajectory generation algorithm for omni-directional mobile robots. In this algorithm we use the Voronoi diagram to find a sketchy path that keeps away from obstacles and then we smooth this path with a novel use of Bezier curves. This algorithm defines velocity magnitude of a robot along the curved path to satisfy optimality conditions and dynamic constrains. The algorithm has been implemented on real robots, and we present experimental results in different environments.