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Motion Planing of Powered-Caster Vehicle Based on Gaussian Process

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Intelligent Robotics and Applications (ICIRA 2024)

Abstract

This paper presents a motion planning strategy for powered-caster omnidirectional robots within the ROS framework that is driven by Gaussian Processes and integrates cubic spline interpolation to enhance both navigation precision and motion smoothness. By dynamically adjusting the Gaussian kernel based on trajectory costs and collision risks, the algorithm achieves superior positional tracking accuracy and computational efficiency, operating at up to 1 kHz. Experimental validation on the robot demonstrates improved performance over conventional techniques, especially in accuracy and computational speed.

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Notes

  1. 1.

    https://www.bilibili.com/video/BV1jD421G7h5.

  2. 2.

    https://github.com/yeying256/agv_housheng.

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Acknowledgements

This work is supported by the National Natural Science Foundation of China (Grant No. 52175029).

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Correspondence to Fei Zhao .

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Wang, X., Zhao, F., Li, H., Liu, B., Gong, C., Mei, X. (2025). Motion Planing of Powered-Caster Vehicle Based on Gaussian Process. In: Lan, X., Mei, X., Jiang, C., Zhao, F., Tian, Z. (eds) Intelligent Robotics and Applications. ICIRA 2024. Lecture Notes in Computer Science(), vol 15208. Springer, Singapore. https://doi.org/10.1007/978-981-96-0783-9_5

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  • DOI: https://doi.org/10.1007/978-981-96-0783-9_5

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-96-0782-2

  • Online ISBN: 978-981-96-0783-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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