모터 제어 입력 제한 조건이 고려된 차륜 이동 로봇을 위한 효율적인 최소 시간 코너링(Cornering) 주행 계획 Efficient Minimum-Time Cornering Motion Planning for Differential-Driven Wheeled Mobile Robots with Motor Control Input Constraint

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We propose an efficient minimum-time cornering motion planning algorithms for differential-driven wheeled mobile robots with motor control input constraint, under piecewise constant control input sections. First, we established mobile robot’s kinematics and dynamics including motors, divided the cornering trajectory for collision-free into one translational section, followed by one rotational section with angular acceleration, and finally the other rotational section with angular deceleration. We constructed an efficient motion planning algorithm satisfying the bang-bang principle. Various simulations and experiments reveal the performance of the proposed algorithm.
Publisher
제어·로봇·시스템학회
Issue Date
2013-01
Language
Korean
Citation

제어.로봇.시스템학회 논문지, v.19, no.1, pp.56 - 64

ISSN
1976-5622
URI
http://hdl.handle.net/10203/201644
Appears in Collection
EE-Journal Papers(저널논문)
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