Auto guided vehicle control using expanded time B-splines
- 17 December 2002
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 2786
- https://doi.org/10.1109/icsmc.1994.400295
Abstract
This paper deals with the control problem of an auto guided vehicle (AGV) from a given trajectory. This trajectory is obtained from its B-spline representation profiting the implicit information contained in the B-spline formulation. For this, we manipulate the discrete trajectory information to construct a second-derivative continuous and smoothed path, which will be included in the control law together with the kinematics of the vehicle. In this paper we propose a new reformulation of B-splines in an expanded time domain instead of the parametric classical representation to get the desired approximation. The purpose of this new representation is to include the path inside the control law regardless the kind of controller used. To easily illustrate the utility of the proposed approach we use a simple proportional controller.Keywords
This publication has 7 references indexed in Scilit:
- A shortest path algorithm for a nonrotating object among obstacles of arbitrary shapesIEEE Transactions on Systems, Man, and Cybernetics, 1993
- Planning near-minimum-length collision-free paths for robotsIEEE Transactions on Systems, Man, and Cybernetics, 1993
- Path planning for a mobile robotIEEE Transactions on Systems, Man, and Cybernetics, 1992
- Real-time obstacle avoidance for fast mobile robotsIEEE Transactions on Systems, Man, and Cybernetics, 1989
- Navigational path planning for a vision-based mobile robotRobotica, 1989
- Curves and Surfaces in Computer Aided Geometric DesignPublished by Springer Science and Business Media LLC ,1988
- An algorithm for planning collision-free paths among polyhedral obstaclesCommunications of the ACM, 1979