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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dc.contributor.authorByeon, Y.-J.ko
dc.contributor.authorKim, Byung Kookko
dc.date.accessioned2013-03-13T05:29:56Z-
dc.date.available2013-03-13T05:29:56Z-
dc.date.created2012-11-23-
dc.date.created2012-11-23-
dc.date.issued2012-09-
dc.identifier.citationJournal of Institute of Control, v.18, no.9, pp.845 - 853-
dc.identifier.issn1976-5622-
dc.identifier.urihttp://hdl.handle.net/10203/104565-
dc.description.abstractWe 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.-
dc.languageKorean-
dc.publisherInstitute of Control, Robotics and Systems-
dc.titleNear-Minimum-Time cornering trajectory planning and control for differential wheeled mobile robots with motor actuation voltage constraint-
dc.title.alternative차륜 이동 로봇의 모터 구동 전압 제한 조건을 고려한 코너링(cornering) 모션의 최소 시간 궤적 계획 및 제어-
dc.typeArticle-
dc.identifier.scopusid2-s2.0-84867952800-
dc.type.rimsART-
dc.citation.volume18-
dc.citation.issue9-
dc.citation.beginningpage845-
dc.citation.endingpage853-
dc.citation.publicationnameJournal of Institute of Control-
dc.contributor.localauthorKim, Byung Kook-
dc.contributor.nonIdAuthorByeon, Y.-J.-
dc.subject.keywordAuthorDifferential wheeled mobile robot-
dc.subject.keywordAuthorMinimum-time trajectory planning-
dc.subject.keywordAuthorMotor actuation voltage constraint-
dc.subject.keywordAuthorTrajectory control-
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EE-Journal Papers(저널논문)
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