DocumentCode :
265157
Title :
NURBs trajectory generation and following by an autonomous mobile robot navigating in 3D environment
Author :
Belaidi, Hadjira ; Hentout, Abdelfetah ; Bouzouia, Brahim ; Bentarzi, Hamid ; Belaidi, Abderrahmane
Author_Institution :
Div. of Comput.-Integrated Manuf. & Robot. (DPR), Adv. Technol. Dev. Centre (CDTA), Algiers, Algeria
fYear :
2014
fDate :
4-7 June 2014
Firstpage :
168
Lastpage :
173
Abstract :
This work consists of a method enabling an autonomous mobile robot to follow a generated path in 3D. Initially, this work deals with the problem of mobile robot displacements to generate trajectories in 3D environment with obstacles avoidance. To simplify the modeling of the environment, we use the Principal Component Analysis (PCA) method to present the 3D objects in planar environment. Furthermore, we describe in a formal way the obstacles avoidance algorithms structure basing on parametric curves technique. Then, we will interest to the smoothing problem of the generated path, for this purpose we use Non Uniform Bi-splines (NURBs) curves. At the end we can, by means of an adequate sensor (radar sensor), implement the control strategies on an embarked PC chart, then send them into the robot controller in order to follow the trajectories instruction. AutoCAD software is used for simulation, and Visual basic is used to code the algorithm and to extract the parameters of the generated trajectory to be followed.
Keywords :
CAD; Visual BASIC; collision avoidance; control engineering computing; digital simulation; human-robot interaction; mobile robots; principal component analysis; splines (mathematics); 3D environment; 3D objects; AutoCAD software; NURBs trajectory following; NURBs trajectory generation; PCA method; Visual Basic; autonomous mobile robot; embarked PC chart; generated path smoothing problem; mobile robot displacements; nonuniform Bi-spline curves; obstacle avoidance; parametric curve technique; principal component analysis; radar sensor; Robot sensing systems; Splines (mathematics); Surface reconstruction; Surface topography; Three-dimensional displays; Trajectory; NURBs smoothing; User-Robot interface; path following; path planning;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Cyber Technology in Automation, Control, and Intelligent Systems (CYBER), 2014 IEEE 4th Annual International Conference on
Conference_Location :
Hong Kong
Print_ISBN :
978-1-4799-3668-7
Type :
conf
DOI :
10.1109/CYBER.2014.6917455
Filename :
6917455
Link To Document :
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