Development of trajectory planner based on lagrange polynomial and b-spline equations for an autonomous human follower transporter robot
This work is a planner module of the PEM, Planner Execution and Monitoring, architecture of the Human follower transporter robot. The essential parts of this planner module are the trajectory planner and the kinematics calculation of the movement of the robot. The trajectory planner is generated using two mathematical polynomial equations; the Lagrange polynomial equation and B-spline equation. The movement of the robot is based on the calculation of the kinematics of differential steering of the mobile robot. In order to generate the trajectory, the reference position of the human is needed, so that the KinectΓäó sensor is being used as the sensing module. The planner will send the combination of the required velocity to execute the trajectory to the execution module. The procedure of communication between modules is based on sequential and parallel communication process.
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