{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,18]],"date-time":"2026-06-18T08:10:29Z","timestamp":1781770229110,"version":"3.54.5"},"reference-count":17,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2017,8,10]],"date-time":"2017-08-10T00:00:00Z","timestamp":1502323200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>This paper proposes a method for trajectory planning and control of a mobile robot for application in picture drawing from images. The robot is an accurate differential drive mobile robot platform controlled by a field-programmable-gate-array (FPGA) controller. By not locating the tip of the pen at the middle between two wheels, we are able to construct an omnidirectional mobile platform, thus implementing a simple and effective trajectory control method. The reference trajectories are generated based on line simplification and B-spline approximation of digitized input curves obtained from Canny\u2019s edge-detection algorithm on a gray image. Experimental results for image picture drawing show the advantage of this proposed method.<\/jats:p>","DOI":"10.3390\/robotics6030017","type":"journal-article","created":{"date-parts":[[2017,8,10]],"date-time":"2017-08-10T10:34:35Z","timestamp":1502361275000},"page":"17","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":34,"title":["Trajectory Planning and Tracking Control of a Differential-Drive Mobile Robot in a Picture Drawing Application"],"prefix":"10.3390","volume":"6","author":[{"given":"Ching-Long","family":"Shih","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei 10607, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Li-Chen","family":"Lin","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei 10607, Taiwan"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2017,8,10]]},"reference":[{"key":"ref_1","unstructured":"Kotani, S., Yasutomi, S., Kin, X., Mori, H., Shigihara, S., and Matsumuro, Y. (1993, January 26\u201330). Image processing and motion control of a lane mark drawing robot. Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan."},{"key":"ref_2","unstructured":"Srikaew, A., Cambron, M., Northrup, S., Peters, R.A., Wilkes, M., and Kawamura, K. (1998, January 26\u201329). Humanoid drawing robot. Proceedings of the IASTED International Conference on Robotics and Manufacturing, Banff, AB, Canada."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Lau, M.C., Baltes, J., Anderson, J., and Durocher, S. (2012, January 11\u201314). A portrait drawing robot using a geometric graph approach: Furthest Neighbour Theta-graphs. Proceedings of the IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Kachsiung, Taiwan.","DOI":"10.1109\/AIM.2012.6265936"},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"348","DOI":"10.1016\/j.cag.2013.01.012","article-title":"Portrait drawing by Paul the robot","volume":"37","author":"Tresset","year":"2013","journal-title":"Comput. Gr."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Jain, S., Gupta, P., Kumar, V., and Sharma, K. (2015, January 17\u201319). A force-controlled portrait drawing robot. Proceedings of the IEEE International Conference on Industrial Technology (ICIT), Seville, Spain.","DOI":"10.1109\/ICIT.2015.7125564"},{"key":"ref_6","unstructured":"Kanayama, Y., Kimura, Y., Miyazaki, F., and Noguchi, T. (1990, January 13\u201318). A stable tracking control method for an autonomous mobile robot. 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Slov."},{"key":"ref_13","first-page":"11","article-title":"Practical kinematics of the differential driven mobile robot","volume":"11","author":"Balogh","year":"2007","journal-title":"Acta Mech. Slov."},{"key":"ref_14","unstructured":"Khalil, H.K. (2002). Nonlinear Systems, Prentice-Hall. [3rd ed.]."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"112","DOI":"10.3138\/FM57-6770-U75U-7727","article-title":"Algorithms for the reduction of the number of points required to represent a digitized line or its caricature","volume":"10","author":"Douglas","year":"1973","journal-title":"Can. Cartogr."},{"key":"ref_16","unstructured":"De Boor, C. (2001). A Practical Guide to Splines, Springer. revised version."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"679","DOI":"10.1109\/TPAMI.1986.4767851","article-title":"A Computational Approach to Edge Detection","volume":"8","author":"Canny","year":"1986","journal-title":"IEEE Trans. Pattern Anal. Mach. 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