DC Field | Value | Language |
---|---|---|
dc.contributor.author | Byeon, Y.-J. | ko |
dc.contributor.author | Kim, Byung Kook | ko |
dc.date.accessioned | 2013-03-13T05:29:56Z | - |
dc.date.available | 2013-03-13T05:29:56Z | - |
dc.date.created | 2012-11-23 | - |
dc.date.created | 2012-11-23 | - |
dc.date.issued | 2012-09 | - |
dc.identifier.citation | Journal of Institute of Control, v.18, no.9, pp.845 - 853 | - |
dc.identifier.issn | 1976-5622 | - |
dc.identifier.uri | http://hdl.handle.net/10203/104565 | - |
dc.description.abstract | 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. | - |
dc.language | Korean | - |
dc.publisher | Institute of Control, Robotics and Systems | - |
dc.title | Near-Minimum-Time cornering trajectory planning and control for differential wheeled mobile robots with motor actuation voltage constraint | - |
dc.title.alternative | 차륜 이동 로봇의 모터 구동 전압 제한 조건을 고려한 코너링(cornering) 모션의 최소 시간 궤적 계획 및 제어 | - |
dc.type | Article | - |
dc.identifier.scopusid | 2-s2.0-84867952800 | - |
dc.type.rims | ART | - |
dc.citation.volume | 18 | - |
dc.citation.issue | 9 | - |
dc.citation.beginningpage | 845 | - |
dc.citation.endingpage | 853 | - |
dc.citation.publicationname | Journal of Institute of Control | - |
dc.contributor.localauthor | Kim, Byung Kook | - |
dc.contributor.nonIdAuthor | Byeon, Y.-J. | - |
dc.subject.keywordAuthor | Differential wheeled mobile robot | - |
dc.subject.keywordAuthor | Minimum-time trajectory planning | - |
dc.subject.keywordAuthor | Motor actuation voltage constraint | - |
dc.subject.keywordAuthor | Trajectory control | - |
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