Article

Motion Planing of Powered-Caster Vehicle Based on Gaussian Process

Authors:

Xuesong MeiAuthors Info & Claims

Intelligent Robotics and Applications: 17th International Conference, ICIRA 2024, Xi'an, China, July 31 – August 2, 2024, Proceedings, Part VIII

Pages 60 - 74

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

Published: 31 July 2024 Publication History

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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Index Terms

Motion Planing of Powered-Caster Vehicle Based on Gaussian Process
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
      1. Robotic autonomy
      2. Robotic components
2. Computing methodologies
  1. Artificial intelligence
    1. Control methods
      1. Motion path planning
      2. Robotic planning
    2. Planning and scheduling
      1. Robotic planning

Index terms have been assigned to the content through auto-classification.

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Information & Contributors

Information

Published In

Intelligent Robotics and Applications: 17th International Conference, ICIRA 2024, Xi'an, China, July 31 – August 2, 2024, Proceedings, Part VIII

Jul 2024

478 pages

ISBN:978-981-96-0782-2

DOI:10.1007/978-981-96-0783-9

Editors:
Xuguang Lan
https://ror.org/017zhmm22Xi’an Jiaotong University, Xi’an, China
,
Xuesong Mei
https://ror.org/017zhmm22Xi’an Jiaotong University, Xi’an, China
,
Caigui Jiang
https://ror.org/017zhmm22Xi’an Jiaotong University, Xi’an, China
,
Fei Zhao
https://ror.org/017zhmm22Xi’an Jiaotong University, Xi’an, China
,
Zhiqiang Tian
https://ror.org/017zhmm22Xi'an Jiaotong University, Xi'an, China

Publisher

Springer-Verlag

Berlin, Heidelberg

Publication History

Published: 31 July 2024

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