Efficient minimum-time cornering motion planning for differential-driven wheeled mobile robots with motor control input constraint

被引：2

作者：

机构：

[1] Kim, Jae-Sung

[2] Kim, Byung-Kook

来源：

Kim, J.-S. | 1600年 / Institute of Control, Robotics and Systems卷 / 19期

关键词：

Cornering motion problem; Differential-driven wheeled mobile robots; Motor control input constraint; Planning;

D O I：

10.5302/J.ICROS.2013.19.1.056

中图分类号：

学科分类号：

摘要：

We 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. © ICROS 2013.

引用

页码：56 / 64

页数：8