Trajectory Planning and Tracking Control of a Differential-Drive Mobile Robot in a Picture Drawing Application

Trajectory Planning and Tracking Control of a Differential-Drive Mobile Robot in a Picture Drawing Application

This paper proposes a method for trajectory planning and control of a mobile robot for application in picture drawing from images. The robot is an accurate differential drive mobile robot platform controlled by a field-programmable-gate-array (FPGA) controller. By not locating the tip of the pen at...

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Main Authors: Ching-Long Shih, Li-Chen Lin
Format: Article
Language:English
Published: MDPI AG 2017-08-01
Series:Robotics
Subjects:
differential drive mobile robot
trajectory control
edge-detection
line simplification
B-spline approximation
Online Access:https://www.mdpi.com/2218-6581/6/3/17
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spelling doaj-97b80e57b9c94c08b0fd130ab45a1de42020-11-24T21:45:45ZengMDPI AGRobotics2218-65812017-08-01631710.3390/robotics6030017robotics6030017Trajectory Planning and Tracking Control of a Differential-Drive Mobile Robot in a Picture Drawing ApplicationChing-Long Shih0Li-Chen Lin1Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei 10607, TaiwanDepartment of Electrical Engineering, National Taiwan University of Science and Technology, Taipei 10607, TaiwanThis paper proposes a method for trajectory planning and control of a mobile robot for application in picture drawing from images. The robot is an accurate differential drive mobile robot platform controlled by a field-programmable-gate-array (FPGA) controller. By not locating the tip of the pen at the middle between two wheels, we are able to construct an omnidirectional mobile platform, thus implementing a simple and effective trajectory control method. The reference trajectories are generated based on line simplification and B-spline approximation of digitized input curves obtained from Canny’s edge-detection algorithm on a gray image. Experimental results for image picture drawing show the advantage of this proposed method.https://www.mdpi.com/2218-6581/6/3/17differential drive mobile robottrajectory controledge-detectionline simplificationB-spline approximation
collection DOAJ
language English
format Article
sources DOAJ
author Ching-Long Shih
Li-Chen Lin
spellingShingle Ching-Long Shih
Li-Chen Lin
Trajectory Planning and Tracking Control of a Differential-Drive Mobile Robot in a Picture Drawing Application
Robotics
differential drive mobile robot
trajectory control
edge-detection
line simplification
B-spline approximation
author_facet Ching-Long Shih
Li-Chen Lin
author_sort Ching-Long Shih
title Trajectory Planning and Tracking Control of a Differential-Drive Mobile Robot in a Picture Drawing Application
title_short Trajectory Planning and Tracking Control of a Differential-Drive Mobile Robot in a Picture Drawing Application
title_full Trajectory Planning and Tracking Control of a Differential-Drive Mobile Robot in a Picture Drawing Application
title_fullStr Trajectory Planning and Tracking Control of a Differential-Drive Mobile Robot in a Picture Drawing Application
title_full_unstemmed Trajectory Planning and Tracking Control of a Differential-Drive Mobile Robot in a Picture Drawing Application
title_sort trajectory planning and tracking control of a differential-drive mobile robot in a picture drawing application
publisher MDPI AG
series Robotics
issn 2218-6581
publishDate 2017-08-01
description This paper proposes a method for trajectory planning and control of a mobile robot for application in picture drawing from images. The robot is an accurate differential drive mobile robot platform controlled by a field-programmable-gate-array (FPGA) controller. By not locating the tip of the pen at the middle between two wheels, we are able to construct an omnidirectional mobile platform, thus implementing a simple and effective trajectory control method. The reference trajectories are generated based on line simplification and B-spline approximation of digitized input curves obtained from Canny’s edge-detection algorithm on a gray image. Experimental results for image picture drawing show the advantage of this proposed method.
topic differential drive mobile robot
trajectory control
edge-detection
line simplification
B-spline approximation
url https://www.mdpi.com/2218-6581/6/3/17
work_keys_str_mv AT chinglongshih trajectoryplanningandtrackingcontrolofadifferentialdrivemobilerobotinapicturedrawingapplication
AT lichenlin trajectoryplanningandtrackingcontrolofadifferentialdrivemobilerobotinapicturedrawingapplication
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