Generating trajectories with temporal constraints for an autonomous robot
Autor(a) principal: | |
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Data de Publicação: | 2010 |
Outros Autores: | , |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/1822/16577 |
Resumo: | Trajectory modulation and generation are two fundamental issues in the path planning problem in autonomous robotics, specially considering temporal stabilization of the generated movements. This is a very critical issue in several robotic tasks including: catching, hitting, and human-robot scenarios. In this work, we address these problems and focus on generating movement for a mobile robot, whose goal is to reach a target within a constant time. We use an Hopf oscillator whose solution controls velocity, adapted according to temporal feedback. We have also proposed an adaptive mechanism for frequency modulation of the velocity profile that enables setting different times for acceleration and deceleration. This approach is demonstrated on a DRK8000 mobile robot in order to confirm the system’s reliability with low-level sensors. |
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Generating trajectories with temporal constraints for an autonomous robotTimingNonlinear dynamical systemsAdaptive modulationTrajectory modulation and generation are two fundamental issues in the path planning problem in autonomous robotics, specially considering temporal stabilization of the generated movements. This is a very critical issue in several robotic tasks including: catching, hitting, and human-robot scenarios. In this work, we address these problems and focus on generating movement for a mobile robot, whose goal is to reach a target within a constant time. We use an Hopf oscillator whose solution controls velocity, adapted according to temporal feedback. We have also proposed an adaptive mechanism for frequency modulation of the velocity profile that enables setting different times for acceleration and deceleration. This approach is demonstrated on a DRK8000 mobile robot in order to confirm the system’s reliability with low-level sensors.(undefined)Universidade do MinhoSilva, Jorge BrunoMatos, VítorSantos, Cristina20102010-01-01T00:00:00Zconference paperinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/1822/16577eng978142448899510.1109/SSRR.2010.5981551info:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-05-11T04:58:30Zoai:repositorium.sdum.uminho.pt:1822/16577Portal AgregadorONGhttps://www.rcaap.pt/oai/openairemluisa.alvim@gmail.comopendoar:71602024-05-11T04:58:30Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Generating trajectories with temporal constraints for an autonomous robot |
title |
Generating trajectories with temporal constraints for an autonomous robot |
spellingShingle |
Generating trajectories with temporal constraints for an autonomous robot Silva, Jorge Bruno Timing Nonlinear dynamical systems Adaptive modulation |
title_short |
Generating trajectories with temporal constraints for an autonomous robot |
title_full |
Generating trajectories with temporal constraints for an autonomous robot |
title_fullStr |
Generating trajectories with temporal constraints for an autonomous robot |
title_full_unstemmed |
Generating trajectories with temporal constraints for an autonomous robot |
title_sort |
Generating trajectories with temporal constraints for an autonomous robot |
author |
Silva, Jorge Bruno |
author_facet |
Silva, Jorge Bruno Matos, Vítor Santos, Cristina |
author_role |
author |
author2 |
Matos, Vítor Santos, Cristina |
author2_role |
author author |
dc.contributor.none.fl_str_mv |
Universidade do Minho |
dc.contributor.author.fl_str_mv |
Silva, Jorge Bruno Matos, Vítor Santos, Cristina |
dc.subject.por.fl_str_mv |
Timing Nonlinear dynamical systems Adaptive modulation |
topic |
Timing Nonlinear dynamical systems Adaptive modulation |
description |
Trajectory modulation and generation are two fundamental issues in the path planning problem in autonomous robotics, specially considering temporal stabilization of the generated movements. This is a very critical issue in several robotic tasks including: catching, hitting, and human-robot scenarios. In this work, we address these problems and focus on generating movement for a mobile robot, whose goal is to reach a target within a constant time. We use an Hopf oscillator whose solution controls velocity, adapted according to temporal feedback. We have also proposed an adaptive mechanism for frequency modulation of the velocity profile that enables setting different times for acceleration and deceleration. This approach is demonstrated on a DRK8000 mobile robot in order to confirm the system’s reliability with low-level sensors. |
publishDate |
2010 |
dc.date.none.fl_str_mv |
2010 2010-01-01T00:00:00Z |
dc.type.driver.fl_str_mv |
conference paper |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/1822/16577 |
url |
http://hdl.handle.net/1822/16577 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
9781424488995 10.1109/SSRR.2010.5981551 |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
mluisa.alvim@gmail.com |
_version_ |
1817544476063694848 |