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首页> 外文会议>International conference on omputational science and technology >Real-Time Optimal Trajectory Correction (ROTC) for Autonomous Omnidirectional Robot
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Real-Time Optimal Trajectory Correction (ROTC) for Autonomous Omnidirectional Robot

机译：自主全向机器人的实时最优轨迹校正（ROTC）

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This paper proposed a Real-Time Optimal Trajectory Correction (ROTC) algorithm designed to be applied for autonomous omnidirectional robot. It is programmed to work when a robot undergoes a deviation, an admissible trajectory correction path is generated for the robot rapidly returns to the route line. For the algorithm to do this, initially a deviation scheme is employed to sense deviation and formulates a vector consists of displacement and angle. Via the vector, an admissible correction path is originated utilizing Hermite cubic spline method fused with time and tangent transformation schemes. A Dead Reckoning (DR) technique is applied for robot to pursue the path. Several experiments are arranged to evaluate the reliability of robot navigation with and without the algorithm. It motion is mapped in Graphical User Interface (GUI) window using data from Laser Range Finder (LRF) sensors as attached to the robot controller. Using the map, the performances of the algorithm are evaluated in terms of distance travel and duration to return on the line. The results signify robot navigation with the algorithm required shorter distance and duration as compared to robot navigation without ROTC. Thus, it justifies the algorithm is feasible in the navigation system where it can assist robot effectively to move back to the route line after experiencing a deviation caused by a disturbance.
机译：本文提出了一种专门应用于自主全向机器人的实时最佳轨迹校正（ROTC）算法。当机器人经历偏差时，它被编程为工作，为机器人迅速返回到路线线而产生可允许的轨迹校正路径。对于该算法来执行此操作，最初采用偏差方案来感测偏差，并配制矢量包括位移和角度。通过向量，利用与时间和切线变换方案融合的Hermite立方样条方法来源于允许的校正路径。用于追求路径的机器人申请了死亡的推算（DR）技术。有几个实验被安排在没有算法的情况下评估机器人导航的可靠性。它在图形用户界面（GUI）窗口中使用来自激光测距仪（LRF）传感器的图形用户界面（GUI）窗口映射，如连接到机器人控制器。使用地图，算法的性能在距离行程和持续时间方面进行评估，以返回线路。结果在没有ROTC的情况下，使用算法表示具有较短距离和持续时间的机器人导航。因此，它证明了算法在导航系统中可以是可行的，在那里它可以在经历由干扰引起的偏差之后有效地帮助机器人移动回路。

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