Trajectory Control of Announcer Robot Based on Shannon Wavelets

Based on wavelets sampling theory, a trajectory control method is proposed for controlling the trajectory of an announcer robot. At first, the kinematics model of the wheeled announcer robot is established, and the kinematic constraints are deduced. And then, the wavelet sampling function is constructed based on Shannon wavelets sampling theory. Furthermore, according to the track along which the announcer robot moves, a trajectory control method for cubic spline trajectory is presented. Experiments show that the proposed method is simple but reliable, and that the trajectory of the robot is controlled successfully.