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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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Robotics 2017, 6(3), 17; https://doi.org/10.3390/robotics6030017
Received: 21 June 2017 / Revised: 7 August 2017 / Accepted: 7 August 2017 / Published: 10 August 2017
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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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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