DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Ki-Bum | ko |
dc.contributor.author | Kim, Byung-Kook | ko |
dc.date.accessioned | 2013-03-11T06:35:39Z | - |
dc.date.available | 2013-03-11T06:35:39Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2011-08 | - |
dc.identifier.citation | IEEE TRANSACTIONS ON ROBOTICS, v.27, no.4, pp.800 - 808 | - |
dc.identifier.issn | 1552-3098 | - |
dc.identifier.uri | http://hdl.handle.net/10203/98529 | - |
dc.description.abstract | The minimum-time trajectory planning problem for three-wheeled omnidirectional mobile robots (TOMRs) is solved based on the combined dynamic model of a mobile robot and dc motor actuators, under the constraint of bounded control inputs due to the battery voltage. We constrain that the bounded-curvature path based on a smooth road (which is described as a clothoid) be given for the translational motion of the TOMR and that the reference profile with respect to the path-length parameter be predetermined for the heading motion of the TOMR. The dynamics of the TOMR is transformed into normal and tangent spaces for motion analysis on the bounded-curvature path. We find out the time-optimality condition of the TOMR, which imposes that the input voltage vector of three motors should have at least one extreme component. Based on the optimality condition, we present a systematic way to construct the optimal control input vector. Finally, several examples are analyzed by the use of the proposed method. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.subject | SERVICE ROBOTS | - |
dc.subject | GENERATION | - |
dc.subject | PLATFORM | - |
dc.subject | VEHICLE | - |
dc.title | Minimum-Time Trajectory for Three-Wheeled Omnidirectional Mobile Robots Following a Bounded-Curvature Path With a Referenced Heading Profile | - |
dc.type | Article | - |
dc.identifier.wosid | 000293753400015 | - |
dc.identifier.scopusid | 2-s2.0-80051684985 | - |
dc.type.rims | ART | - |
dc.citation.volume | 27 | - |
dc.citation.issue | 4 | - |
dc.citation.beginningpage | 800 | - |
dc.citation.endingpage | 808 | - |
dc.citation.publicationname | IEEE TRANSACTIONS ON ROBOTICS | - |
dc.contributor.localauthor | Kim, Byung-Kook | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Bounded-curvature path | - |
dc.subject.keywordAuthor | dynamics | - |
dc.subject.keywordAuthor | minimum-time trajectory | - |
dc.subject.keywordAuthor | three-wheeled omnidirectional robot | - |
dc.subject.keywordPlus | SERVICE ROBOTS | - |
dc.subject.keywordPlus | GENERATION | - |
dc.subject.keywordPlus | PLATFORM | - |
dc.subject.keywordPlus | VEHICLE | - |
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