What is it about?
This paper presents a strategy for controlling the motions of a mobile robot in a smoothly, efficient way through a sequence of waypoints. Smoothness of motions is ensured from kinematics constraints (on acceleration, velocity) which input kinematic control laws designed in a manner to minimize execution time while ensuring that each waypoint is crossed.
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Why is it important?
All mobile platforms need to navigate through specific zones of their operating environment. The smoothness and the accuracy of navigation is a critical issue in particular for mobile platforms with human passengers as smart cars and smart wheelchairs. This method allows our smart wheelchair to navigate securely through very confined areas including those of home standard door passages.
Perspectives
I esteem this method relevant to consider for commercial producers of smart platforms. The problem of waypoints guidance should also be considered, in my point of view, in other research fields as in handwriting modeling. The problem of generating the sequence of waypoints, not addressed in the paper, is in fact of main interest to resolve more general navigation problems. The challenge could be in designing a convergent synergy between waypoints generation, actualization and kinematic control.
Mr Patrice Boucher
Ecole de technologie superieure
Read the Original
This page is a summary of: Waypoints guidance of differential-drive mobile robots with kinematic and precision constraints, Robotica, July 2014, Cambridge University Press,
DOI: 10.1017/s0263574714001921.
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