{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,2,17]],"date-time":"2023-02-17T15:54:46Z","timestamp":1676649286008},"reference-count":28,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2009,7,1]],"date-time":"2009-07-01T00:00:00Z","timestamp":1246406400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2009,7]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Computing a realistic velocity profile for a mobile robot is a challenging task due to the large number of kinematic and dynamic constraints involved. In order for a mobile robot to complete its task it must be able to plan and follow a trajectory. It may also be necessary to follow a given velocity profile, depending on the environment. Temporal planning, or following a given velocity profile, can be used to minimize time of motion and to avoid moving obstacles. For example, assuming the mobile robot is a smart wheelchair, it must follow a prescribed path while following a strict speed limit. This paper presents a temporal planning algorithm that is implemented on a wheeled mobile robot to be used in an indoor setting, such as a hospital ward. The path planning stage is accomplished by using cubic spline functions. A trajectory is created by assigning an arbitrary time of 1 s to each segment of the path. This trajectory is made feasible by applying a number of constraints and using a linear scaling technique. When a velocity profile is given, a non-linear time scaling technique is used to fit the mobile robot's linear velocity to the given velocity profile. A method for avoiding moving obstacles is also implemented. Simulation and experimental results showed good agreement with each other. The main contribution of this paper is in developing a temporal planning algorithm, which is capable of moving on an uneven surface (graded non-flat), and its implementation on the mobile robot at the robotics lab in the University of Saskatchewan. This algorithm is computationally very efficient as it requires low computation cost and does not involve major iterations.<\/jats:p>","DOI":"10.1017\/s0263574708004876","type":"journal-article","created":{"date-parts":[[2008,8,11]],"date-time":"2008-08-11T13:52:45Z","timestamp":1218462765000},"page":"481-498","source":"Crossref","is-referenced-by-count":14,"title":["Trajectory and temporal planning of a wheeled mobile robot on an uneven surface"],"prefix":"10.1017","volume":"27","author":[{"given":"Imran","family":"Waheed","sequence":"first","affiliation":[]},{"given":"Reza","family":"Fotouhi","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,7,1]]},"reference":[{"key":"S0263574708004876_ref8","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574701003691"},{"key":"S0263574708004876_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/70.917086"},{"key":"S0263574708004876_ref11","doi-asserted-by":"crossref","first-page":"237","DOI":"10.1023\/A:1008168615430","article-title":"Technique to analytically formulate and to solve the 2-dimensional constrained trajectory planning problem for a mobile robot","volume":"27","author":"Paolo","year":"2000","journal-title":"J. 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Comput.-Aided Eng."},{"key":"S0263574708004876_ref3","first-page":"2790","article-title":"Supervised Navigation and Manipulation for Impaired Wheelchair Users","volume":"3","author":"Bley","year":"2004","journal-title":"Proceedings of IEEE Conference of Systems, Man and Cybernetics"},{"key":"S0263574708004876_ref10","doi-asserted-by":"publisher","DOI":"10.1109\/70.760342"},{"key":"S0263574708004876_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/70.781968"},{"key":"S0263574708004876_ref22","volume-title":"Introduction to Applied Mathematics","author":"Strang","year":"1986"},{"key":"S0263574708004876_ref17","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574704000645"},{"key":"S0263574708004876_ref5","doi-asserted-by":"crossref","unstructured":"5. Gurtler C. , \u201cTrajectory Planning for Mobile Robots Based on Dynamical Models,\u201d Proceedings of IEEE International Conference on Intelligent Engineering Systems, Budapest, Hungary, (1997) pp. 171\u2013174.","DOI":"10.1109\/INES.1997.632412"},{"key":"S0263574708004876_ref23","unstructured":"23. ActivMedia Robotics, PowerBot\u2122 AGV Operations Manual (version 5, March 2005)."},{"key":"S0263574708004876_ref7","first-page":"89","article-title":"Optimal and efficient path planning for unknown and dynamic environments","volume":"10","author":"Stentz","year":"1995","journal-title":"Int. J. Rob. Automat."},{"key":"S0263574708004876_ref27","doi-asserted-by":"crossref","unstructured":"27. Gillespie T. D. , Fundamentals of Vehicle Dynamics, Chapter 3 (Society of Automotive Engineers, Warrendale, Pennsylvania, 1992, TL243.G548).","DOI":"10.4271\/R-114"},{"key":"S0263574708004876_ref20","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574701003770"},{"key":"S0263574708004876_ref6","doi-asserted-by":"publisher","DOI":"10.1163\/1568553041719456"},{"key":"S0263574708004876_ref15","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574702004563"},{"key":"S0263574708004876_ref9","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(99)00114-1"},{"key":"S0263574708004876_ref28","unstructured":"28. Wong J. Y. , Theory of Ground Vehicles, Chapter 1 (John Wiley and Sons, New York; Toronto, 1978)."},{"key":"S0263574708004876_ref18","doi-asserted-by":"publisher","DOI":"10.1115\/1.1481362"},{"key":"S0263574708004876_ref25","volume-title":"Applied Robotic Analysis","author":"Parking","year":"1991"},{"key":"S0263574708004876_ref4","doi-asserted-by":"crossref","unstructured":"4. Pacnik G. , \u201cVoice Operated Intelligent Wheelchair \u2013 VOIC,\u201d IEEE International Symposium on Industrial Electronics, Dubrovnik, Croatia (Jun. 20\u201323, 2005) pp. 1221\u20131226.","DOI":"10.1109\/ISIE.2005.1529099"},{"key":"S0263574708004876_ref2","first-page":"263","article-title":"Intelligent wheelchair robot","volume":"57","author":"Hatase","year":"2006","journal-title":"Fujitsu"},{"key":"S0263574708004876_ref24","unstructured":"24. Waheed I. , Experimental Study of a Trajectory\/Temporal Planning Algorithm of a Wheeled Mobile Robot M. Sc. Thesis (University of Saskatchewan, Saskatoon, Canada, 2006). http:\/\/library2.usask.ca\/theses\/available\/etd-01032007-132908\/."},{"key":"S0263574708004876_ref26","unstructured":"26. Waheed I. and Fotouhi R. , \u201cTrajectory\/Temporal Planning of Mobile Robot Manipulators,\u201d Canadian Space Agency Workshop, Montreal, QC (Oct. 17\u201318, 2006)"},{"key":"S0263574708004876_ref12","unstructured":"12. Munoz V. , Ollero A. , Prado M. and Simon A. , \u201cMobile Robot Trajectory Planning with Dynamic and Kinematic Constraints\u201d Proceedings of IEEE International Conference on Robotics and Automation, San Diego, CA, Vol. 4 (1994) pp. 2802\u20132807."},{"key":"S0263574708004876_ref1","unstructured":"1. Waheed I. and Fotouhi R. , \u201cTrajectory\/Temporal Planning of an Intelligent Healthcare Wheeled Mobile Robot,\u201d UVS Canada Conference, Montebello, QC (Nov. 7\u201310, 2006)."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574708004876","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,13]],"date-time":"2019-05-13T06:51:47Z","timestamp":1557730307000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574708004876\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2009,7]]},"references-count":28,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2009,7]]}},"alternative-id":["S0263574708004876"],"URL":"https:\/\/doi.org\/10.1017\/s0263574708004876","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2009,7]]}}}