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http://dx.doi.org/10.5391/JKIIS.2014.24.1.052

Joint Space Trajectory Planning on RTOS  

Yang, Gil-Jin (Graduate School of Electrical Engineering, Seoul National University of Science and Technology)
Choi, Byoung-Wook (Dept. of Electrical and Information Engineering, Seoul National University of Science and Technology)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.24, no.1, 2014 , pp. 52-57 More about this Journal
Abstract
This paper presents an implementation of a smooth path planning method considering physical limits on a real time operating system for a two-wheel mobile robot. A Bezier curve is utilized to make a smooth path considering a robot's position and direction angle through the defined path. A convolution operator is used to generate the center velocity trajectory to travel the distance of the planned path while satisfying the physical limits. The joint space velocity is computed to drive the two-wheel mobile robot from the center velocity. Trajectory planning, velocity command according to the planned trajectory, and monitoring of encoder data are implemented with a multi-tasking system. And the synchronization of tasks is performed with a real-time mechanism of Event Flag. A real time system with multi-tasks is implemented and the result is compared with a non-real-time system in terms of path tracking to the designed path. The result shows the usefulness of a real-time multi-tasking system to the control system which requires real-time features.
Keywords
Path planning; Trajectory planning; Real-time Control; Real-time Operating System; Mobile Robot;
Citations & Related Records
Times Cited By KSCI : 7  (Citation Analysis)
연도 인용수 순위
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