DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Hongjun | ko |
dc.contributor.author | Kim, Byung Kook | ko |
dc.date.accessioned | 2021-10-11T05:50:11Z | - |
dc.date.available | 2021-10-11T05:50:11Z | - |
dc.date.created | 2020-10-26 | - |
dc.date.created | 2020-10-26 | - |
dc.date.created | 2020-10-26 | - |
dc.date.issued | 2021-09 | - |
dc.identifier.citation | ASIAN JOURNAL OF CONTROL, v.23, no.5, pp.2185 - 2200 | - |
dc.identifier.issn | 1561-8625 | - |
dc.identifier.uri | http://hdl.handle.net/10203/288156 | - |
dc.description.abstract | To maximize energy efficiency, we suggest minimum-energy trajectory planning and online trajectory modification algorithms for three-wheeled omni-directional mobile robots (TOMRs). First, minimum-energy multisection trajectory planning for various constraints is performed using Pontryagin's minimum principle. Two strategies are established to formulate an efficient minimum-energy, multisection trajectory generation algorithm: an online trajectory modification and a control algorithm that maintains energy efficiency are investigated using novel heuristic functions. Compared with the conventional trajectory using the trapezoidal velocity profile, the generated transport trajectory can save energy. | - |
dc.language | English | - |
dc.publisher | WILEY | - |
dc.title | Energy-optimal transport trajectory planning and online trajectory modification for holonomic robots | - |
dc.type | Article | - |
dc.identifier.wosid | 000576662500001 | - |
dc.identifier.scopusid | 2-s2.0-85092277360 | - |
dc.type.rims | ART | - |
dc.citation.volume | 23 | - |
dc.citation.issue | 5 | - |
dc.citation.beginningpage | 2185 | - |
dc.citation.endingpage | 2200 | - |
dc.citation.publicationname | ASIAN JOURNAL OF CONTROL | - |
dc.identifier.doi | 10.1002/asjc.2449 | - |
dc.embargo.liftdate | 9999-12-31 | - |
dc.embargo.terms | 9999-12-31 | - |
dc.contributor.localauthor | Kim, Byung Kook | - |
dc.contributor.nonIdAuthor | Kim, Hongjun | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | minimum-energy trajectory | - |
dc.subject.keywordAuthor | mobile robots | - |
dc.subject.keywordAuthor | optimal control | - |
dc.subject.keywordAuthor | optimal trajectory | - |
dc.subject.keywordAuthor | trajectory planning | - |
dc.subject.keywordPlus | SLIDING MODE CONTROL | - |
dc.subject.keywordPlus | PREDICTIVE CONTROL | - |
dc.subject.keywordPlus | MOBILE | - |
dc.subject.keywordPlus | IMPLEMENTATION | - |
dc.subject.keywordPlus | TRACKING | - |
dc.subject.keywordPlus | SYSTEMS | - |
dc.subject.keywordPlus | DESIGN | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.