Speed Daemon: Experience-Based Mobile Robot Speed Scheduling

@article{Ostafew2014SpeedDE,
  title={Speed Daemon: Experience-Based Mobile Robot Speed Scheduling},
  author={Chris J. Ostafew and Angela P. Schoellig and Tim D. Barfoot and Jack Collier},
  journal={2014 Canadian Conference on Computer and Robot Vision},
  year={2014},
  pages={56-62}
}
A time-optimal speed schedule results in a mobile robot driving along a planned path at or near the limits of the robot's capability. However, deriving models to predict the effect of increased speed can be very difficult. In this paper, we present a speed scheduler that uses previous experience, instead of complex models, to generate time-optimal speed schedules. The algorithm is designed for a vision-based, path-repeating mobile robot and uses experience to ensure reliable localization, low… CONTINUE READING
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