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

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dc.contributor.author김재성ko
dc.contributor.author김병국ko
dc.date.accessioned2015-11-20T12:41:42Z-
dc.date.available2015-11-20T12:41:42Z-
dc.date.created2014-02-05-
dc.date.created2014-02-05-
dc.date.issued2013-01-
dc.identifier.citation제어.로봇.시스템학회 논문지, v.19, no.1, pp.56 - 64-
dc.identifier.issn1976-5622-
dc.identifier.urihttp://hdl.handle.net/10203/201644-
dc.description.abstractWe 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.-
dc.languageKorean-
dc.publisher제어·로봇·시스템학회-
dc.title모터 제어 입력 제한 조건이 고려된 차륜 이동 로봇을 위한 효율적인 최소 시간 코너링(Cornering) 주행 계획-
dc.title.alternativeEfficient Minimum-Time Cornering Motion Planning for Differential-Driven Wheeled Mobile Robots with Motor Control Input Constraint-
dc.typeArticle-
dc.identifier.scopusid2-s2.0-84881094175-
dc.type.rimsART-
dc.citation.volume19-
dc.citation.issue1-
dc.citation.beginningpage56-
dc.citation.endingpage64-
dc.citation.publicationname제어.로봇.시스템학회 논문지-
dc.identifier.kciidART001735796-
dc.contributor.localauthor김병국-
dc.contributor.nonIdAuthor김재성-
dc.subject.keywordAuthorCornering motion problem-
dc.subject.keywordAuthorDifferential-driven wheeled mobile robots-
dc.subject.keywordAuthorMotor control input constraint-
dc.subject.keywordAuthorPlanning-
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EE-Journal Papers(저널논문)
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