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Trajectory generation for a robotic in a robocup test scenery using Kalman filter and B-spline curves

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5 Author(s)
Restrepo, J.C. ; Inst. Tecnol. Metropolitano, Medellin, Colombia ; Villegas, J. ; Arias, A. ; Serna, S.
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In this paper is presented the design of a tracking and trayectory generation robotic system in a testing environment Robocup (small size category) by the prediction of movements using Kalman filters and the optimal trajectory generation by implementing B-spline curves. In the different results obtained it was found that the Kalman filter facilitates the prediction of robotic agents with small processing times and curves B-splines by optimizing the control points allowed to generate smooth curves for obstacle avoidance.

Published in:

Image, Signal Processing, and Artificial Vision (STSIVA), 2012 XVII Symposium of

Date of Conference:

12-14 Sept. 2012

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