DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Hongjun | ko |
dc.contributor.author | Kim, Byung Kook | ko |
dc.date.accessioned | 2017-08-23T06:38:57Z | - |
dc.date.available | 2017-08-23T06:38:57Z | - |
dc.date.created | 2017-08-21 | - |
dc.date.created | 2017-08-21 | - |
dc.date.issued | 2017-08 | - |
dc.identifier.citation | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.15, no.4, pp.1857 - 1866 | - |
dc.identifier.issn | 1598-6446 | - |
dc.identifier.uri | http://hdl.handle.net/10203/225472 | - |
dc.description.abstract | A minimum-energy cornering trajectory planning with self-rotation algorithm is investigated for three wheeled omni-directional mobile robots (TOMRs). First, an generalized minimum-energy point-to-point trajectory planning algorithm is studied, which is obtained using Pontryagin's minimum principle, a practical cost function as. the energy drawn from the batteries to motors, and the accurate TOMR dynamic model including actuator dynamics and the Coriolis force. By analyzing the co-state equation, the minimum-energy rotational velocity trajectory is. presented in analytic form. Also a novel algorithm for the minimum-energy translational velocity trajectory is investigated. Second, the minimum-energy cornering trajectory planning algorithm with self-rotation is developed. Simulation results show that the minimum-energy cornering trajectory can save energy up to 15.20 % compared with the conventional control using trapezoidal velocity profiles, and up to 3.96 % compared with the loss-minimization control using the armature loss as the cost function. Also a resolved-acceleration controller is implemented to show an actual performance. | - |
dc.language | English | - |
dc.publisher | INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS | - |
dc.subject | CONSTRAINTS | - |
dc.subject | TARGET | - |
dc.title | Minimum-energy Cornering Trajectory Planning with Self-rotation for Three-wheeled Omni-directional Mobile Robots | - |
dc.type | Article | - |
dc.identifier.wosid | 000406822800040 | - |
dc.identifier.scopusid | 2-s2.0-85025123546 | - |
dc.type.rims | ART | - |
dc.citation.volume | 15 | - |
dc.citation.issue | 4 | - |
dc.citation.beginningpage | 1857 | - |
dc.citation.endingpage | 1866 | - |
dc.citation.publicationname | INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | - |
dc.identifier.doi | 10.1007/s12555-016-0111-x | - |
dc.contributor.localauthor | Kim, Byung Kook | - |
dc.contributor.nonIdAuthor | Kim, Hongjun | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | DC motors | - |
dc.subject.keywordAuthor | minimum-energy control | - |
dc.subject.keywordAuthor | omni-directional mobile robots | - |
dc.subject.keywordAuthor | optimal control | - |
dc.subject.keywordPlus | CONSTRAINTS | - |
dc.subject.keywordPlus | TARGET | - |
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