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...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2017-08-01
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| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/6/3/17 |
| _version_ | 1811307897180651520 |
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| author | Ching-Long Shih Li-Chen Lin |
| author_facet | Ching-Long Shih Li-Chen Lin |
| author_sort | Ching-Long Shih |
| collection | DOAJ |
| 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. |
| first_indexed | 2024-04-13T09:12:20Z |
| format | Article |
| id | doaj.art-97b80e57b9c94c08b0fd130ab45a1de4 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-04-13T09:12:20Z |
| publishDate | 2017-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-97b80e57b9c94c08b0fd130ab45a1de42022-12-22T02:52:50ZengMDPI 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 |
| 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 |
| title | 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_short | 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 |
| 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 |