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Robotics 2017, 6(3), 17; doi:10.3390/robotics6030017

Trajectory Planning and Tracking Control of a Differential-Drive Mobile Robot in a Picture Drawing Application

Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei 10607, Taiwan
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Received: 21 June 2017 / Revised: 7 August 2017 / Accepted: 7 August 2017 / Published: 10 August 2017
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Abstract

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. View Full-Text
Keywords: differential drive mobile robot; trajectory control; edge-detection; line simplification; B-spline approximation differential drive mobile robot; trajectory control; edge-detection; line simplification; B-spline approximation
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Shih, C.-L.; Lin, L.-C. Trajectory Planning and Tracking Control of a Differential-Drive Mobile Robot in a Picture Drawing Application. Robotics 2017, 6, 17.

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