Timed Trajectory Generation for a Vision-based Autonomous Mobile Robot in Cluttered Environments

Jorge B. Silva, Cristina P. Santos, João Sequeira

2012

Abstract

An autonomous mobile robot should find feasible trajectories in order to avoid collisions with obstacles in its environment. This ability to plan collision-free trajectories requires two major aspects: modulation and generation of trajectories. This is especially important if temporal stabilization of the generated trajectories is considered. Temporal stabilization means to conform to the planned movement time, in spite of diversified environmental conditions or perturbations. This timing problem applied for wheeled vehicles has not been addressed in most current robotic systems. Herein, we extend our previous work by integrating an architecture able to generate timed trajectories for a wheeled mobile robot, whose goal is to reach a target location within a specified time, independently of the world complexity.

References

  1. Cui, X., Zhu, Y., Zang, X., Tang, S., and Zhao, J. (2010). Cpg based locomotion control of pitch-yaw connecting modular self-reconfigurable robots. IEEE International Conference on Information and Automation (ICIA), pages 1410 - 1415.
  2. Ijspeert, A., Nakanishi, J., and Schaal, S. (2002). Learning attractor landscapes for learning motor primitives. In Advances in Neural Information Processing Systems 15, pages 1547-1554. MIT Press.
  3. Ronsse, R., Vitiello, N., Lenzi, T., van den Kieboom, J., Carrozza, M., and Ijspeert, A. (2010). Human-robot synchrony:flexible assistance using adaptive oscillators. IEEE Transactions on Biomedical Enginnering, 58:1001 - 1012.
  4. Santos, C. (2004). Generating timed trajectories for an autonomous vehicle: a non-linear dynamical systems approach. in Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA).
  5. Santos, C. and Matos, V. (2011). Gait transition and modulation in a quadruped robot: A brainstem-like modulation approach. Robot. Auton. Syst., 59:620 - 634.
  6. Schöner, G. (1994). Dynamic theory of action - perception patterns: The time before-contact-paradigm. Human Mov. Science, 3:415 - 439.
  7. Schöner, G. and Santos, C. (2001). Control of movement time and sequential action through attractor dynamics: A simulation study demonstrating object interception and coordination. in Proc. of the 9th Int. Symposium on Intelligent Robotic Systems (SIRS).
  8. Silva, J., Santos, C., and Matos, V. (2010a). Generating trajectories with temporal constraints for an autonomous robot. In 8th IEEE International Workshop on Safety, Security & Rescue, Bremen, Germany, July 26-30.
  9. Silva, J., Santos, C., and Matos, V. (2010b). Timed trajectory generation for a toy-like wheeled robot. In 36th Annual Conference of the IEEE Industrial Electronics Society, Glendale, USA, November 07-10, pages 1645 - 1650.
  10. Tuma, M., Iossifidis, I., and Schöner, G. (2009). Temporal stabilization of discrete movement in variable environments: an attractor dynamics approach. in IEEE International Conference on Robotics and Automation, Kobe International Conference Center, Kobe, Japan, pages 863 - 868.
Download


Paper Citation


in Harvard Style

B. Silva J., P. Santos C. and Sequeira J. (2012). Timed Trajectory Generation for a Vision-based Autonomous Mobile Robot in Cluttered Environments . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 431-434. DOI: 10.5220/0004031204310434


in Bibtex Style

@conference{icinco12,
author={Jorge B. Silva and Cristina P. Santos and João Sequeira},
title={Timed Trajectory Generation for a Vision-based Autonomous Mobile Robot in Cluttered Environments},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={431-434},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004031204310434},
isbn={978-989-8565-22-8},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Timed Trajectory Generation for a Vision-based Autonomous Mobile Robot in Cluttered Environments
SN - 978-989-8565-22-8
AU - B. Silva J.
AU - P. Santos C.
AU - Sequeira J.
PY - 2012
SP - 431
EP - 434
DO - 10.5220/0004031204310434