Minimum-energy multi-section transport trajectory planning for holonomic logistics robots홀로노믹 물류로봇의 다 구간 최소 에너지 수송경로 생성

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The minimum-energy multi-section trajectory was generated for holonomic robots. First, minimum-energy trajectory planning on a section for various constraints was performed using the optimal control theory, dynamic models, and a cost function, which represent the energy drawn from the battery. Then, two novel strategies were established to formulate a minimum-energy, multi-section trajectory generation algorithm. Through these strategies on loop arrangement considering the computational load of each trajectory generation algorithm on a section, unknown variables for a multi-section could be found within a practical execution time. The generated trajectory for logistics robots saved 7.18% energy compared with the conventional trajectory using the trapezoidal velocity profile. Further, the actual performance was shown using the resolved-acceleration controller, which was implemented in the preliminary research.
Publisher
제어·로봇·시스템학회
Issue Date
2019-08
Language
Korean
Citation

제어.로봇.시스템학회 논문지, v.25, no.10, pp.885 - 890

ISSN
1976-5622
DOI
10.5302/J.ICROS.2019.19.0156
URI
http://hdl.handle.net/10203/271306
Appears in Collection
EE-Journal Papers(저널논문)
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