Generating trajectories with temporal constraints for an autonomous robot

Detalhes bibliográficos
Autor(a) principal: Silva, Jorge Bruno
Data de Publicação: 2010
Outros Autores: Matos, Vítor, Santos, Cristina
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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spelling 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
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