Viktor Michna

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This paper deals with path planning using cubic Hermite splines in real-time control of wheeled robots. The first part describes the filtering and prediction of the robot position. The discrete form of the extended Kalman filter is introduced on the basis of the robot model. The second part shows a computation of trajectories based on Hermite splines. The(More)
This paper deals with possibilities of manual control of wheeled robots. The problem is tested on a robot-soccer application. The manual computer-assisted control module creates an interface between game controller and controlled robot. There are several ways of steering implementation. The simplest is a differential steering. The module currently uses(More)
This paper deals with time-optimization of trajectories of wheeled robots within the speed and other constraints. The cubic Hermite spline curve with the method of speed profile computation is used to determine the trajectory. This method is summarized and extended to allow the optimization with the described constraints. It ensures fulfilment of required(More)
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