Generación de Trayectorias para Robots Móviles de Ruedas Vía Polinomios de Bézier (Trajectory Generation for Wheeled Mobile Robots Via Bézier Polynomials)

Celso Márquez Sánchez (insqui2000@hotmail.com)1, José Rafael García Sánchez (jrgs_ipn@hotmail.com)1, Cynthia Yolanda Sosa Cervantes (cysosace@gmail.com)1, Ramón Silva Ortigoza (rsilvao@ipn.mx)1, Victor Manuel Hernández Guzmán (ortigoza64@hotmail.com)2, José Norberto Alba Juárez (jnajuarez999@gmail.com)1, Mariana Marcelino Aranda (mmarcelino@ipn.mx)3


1CIDETEC-IPN
2Universidad Autónoma de Querétaro
3UPIICSA-IPN

This paper appears in: Revista IEEE América Latina

Publication Date: Nov. 2016
Volume: 14,   Issue: 11 
ISSN: 1548-0992


Abstract:
In this paper, a proposal for trajectory generation especially well-suited for wheeled mobile robots (WMRs) is presented. In this proposal (PVLAVPB) linear and angular velocities of the WMR are specified as Bézier polynomials. The PVLAVPB is able to generate smooth complex shapes, which would involve more complicated mathematical algorithms if other trajectory generation methods were used. Also, this proposal helps to avoid slipping and skidding of the WMR, since smooth starting and braking can be achieved proposing suitable linear and angular velocities. The generated trajectory is introduced in a hierarchical controller that solves the trajectory tracking task in a differential drive WMR. The experimental validation of the PVLAVPB is carried out via Matlab-Simulink along with a DS1104 board, obtaining satisfactory results.

Index Terms:
Trajectory generation, Bézier polynomials, Trajectory tracking, Robotics, Wheeled mobile robot, Hierarchical control   


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