@inproceedings{92f42dfca8f74a9cbbc5a4292e93b5b6,
title = "Vision-based trajectories planning for four wheels independently steered mobile robots with maximum allowable velocities",
abstract = "In this paper, we extend our previous work to introduce a novel vision-based trajectories planning method for four-wheel-steered mobile robots. Relying only on the overhead camera and by utilizing artificial potential fields and visual servoing concepts, we simultaneously, generate the synchronized trajectories for all wheels in the world coordinates with sufficient number of trajectories midpoints. The synchronized trajectories are used to provide the robot{\textquoteright}s kinematic variables and robotinstantaneous-center of rotation to reduce the complexity of the robot kinematic model. Therefore, we plan maximum allowable velocities for all wheels so that at least one of the actuators is always working at maximum velocity. Experiment results are presented to illustrate the efficiency of the proposed method for four-wheel-steered mobile robot called iMoro.",
keywords = "Driving velocity planning, Steering velocity planning, Trajectories planning, Vision-based",
author = "Zahra Ziaei and Reza Oftadeh and Jouni Mattila",
year = "2015",
doi = "10.1007/978-3-319-22416-9\_34",
language = "English",
isbn = "9783319224152",
volume = "9287",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "303--309",
booktitle = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
address = "Germany",
note = "Towards Autonomous Robotic Systems ; Conference date: 01-01-1900",
}