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: Artigo
Jezik:Inglês
Izdano: MDPI AG 2017-08-01
Serija:Robotics
Teme:
differential drive mobile robot
trajectory control
edge-detection
line simplification
B-spline approximation
Online dostop:https://www.mdpi.com/2218-6581/6/3/17
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