Journal
ROBOTICS
Volume 6, Issue 3, Pages -Publisher
MDPI AG
DOI: 10.3390/robotics6030017
Keywords
differential drive mobile robot; trajectory control; edge-detection; line simplification; B-spline approximation
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Funding
- Taiwan's Ministry of Science and Technology [MOST 105-2221-E-011-047, 106-2221-E-011-151]
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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.
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