Minimum-Energy Trajectory Generation for Cornering with a Fixed Heading for Three-Wheeled Omni-Directional Mobile Robots

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dc.contributor.authorKim, Hongjunko
dc.contributor.authorKim, Byung Kookko
dc.date.accessioned2014-09-04T08:24:23Z-
dc.date.available2014-09-04T08:24:23Z-
dc.date.created2014-08-04-
dc.date.created2014-08-04-
dc.date.issued2014-08-
dc.identifier.citationJOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, v.75, no.2, pp.205 - 221-
dc.identifier.issn0921-0296-
dc.identifier.urihttp://hdl.handle.net/10203/189968-
dc.description.abstractThe minimum-energy trajectory generation problem of cornering with a fixed heading is solved for three-wheeled omni-directional mobile robots (TOMRs). To maximize the total operation time of a mobile robot with carried batteries having finite energy, we have chosen a practical cost function to be the total energy drawn from the batteries. Then, we formulate the minimum-energy trajectory generation problem of executing a cornering motion with a fixed heading for TOMRs with given dynamics including actuator motors. The optimal control theory using a Hamiltonian function and a numerical method are used to obtain the minimum-energy trajectory, which gives the velocity profile in analytic form. Performance analyses are conducted with various simulations and the consumed energy using obtained minimum-energy trajectory is compared with a typical conventional trajectory with a trapezoidal velocity profile, which reveals that an energy savings of up to 18.7 % is achieved. To validate the actual performance of our trajectory, we implemented and tested an accurate trajectory following system which utilizes a resolved acceleration controller.-
dc.languageEnglish-
dc.publisherSPRINGER-
dc.subjectSERVICE ROBOTS-
dc.subjectDC DRIVES-
dc.subjectMINIMIZATION-
dc.subjectPLATFORM-
dc.subjectVELOCITY-
dc.subjectPATH-
dc.titleMinimum-Energy Trajectory Generation for Cornering with a Fixed Heading for Three-Wheeled Omni-Directional Mobile Robots-
dc.typeArticle-
dc.identifier.wosid000338347900004-
dc.identifier.scopusid2-s2.0-84905590233-
dc.type.rimsART-
dc.citation.volume75-
dc.citation.issue2-
dc.citation.beginningpage205-
dc.citation.endingpage221-
dc.citation.publicationnameJOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS-
dc.identifier.doi10.1007/s10846-013-9855-1-
dc.contributor.localauthorKim, Byung Kook-
dc.type.journalArticleArticle-
dc.subject.keywordAuthorDC motor actuators-
dc.subject.keywordAuthorOmni-directional mobile robots-
dc.subject.keywordAuthorMinimum-energy control-
dc.subject.keywordAuthorOptimal control-
dc.subject.keywordPlusSERVICE ROBOTS-
dc.subject.keywordPlusDC DRIVES-
dc.subject.keywordPlusMINIMIZATION-
dc.subject.keywordPlusPLATFORM-
dc.subject.keywordPlusVELOCITY-
dc.subject.keywordPlusPATH-
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