Near-Minimum-Time cornering trajectory planning and control for differential wheeled mobile robots with motor actuation voltage constraint 차륜 이동 로봇의 모터 구동 전압 제한 조건을 고려한 코너링(cornering) 모션의 최소 시간 궤적 계획 및 제어

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We propose time-optimal cornering motion trajectory planning and control algorithms for differential wheeled mobile robot with motor actuating voltage constraint, under piecewise constant control input condition. For time-optimal cornering trajectory generation, 1) we considered mobile robot's dynamics including actuator motors, 2) divided the cornering trajectory into one liner section, followed by two cornering section with angular acceleration and deceleration, and finally one liner section, and 3) formulated an efficient trajectory generation algorithm satisfying the bang-bang control principle. Also we proposed an efficient trajectory control algorithm and implemented with an X-bot to prove the performance. © ICROS 2012.
Publisher
Institute of Control, Robotics and Systems
Issue Date
2012-09
Language
Korean
Citation

Journal of Institute of Control, v.18, no.9, pp.845 - 853

ISSN
1976-5622
URI
http://hdl.handle.net/10203/104565
Appears in Collection
EE-Journal Papers(저널논문)
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