Optimal trajectory planning based on Hamiltonian function of a spherical mobile robot

被引：2
作者：
陈明 [1 ]
机构：
[1] Robotics Institute,Beijing University of Aeronautics and Astronautics,Beijing 100083,P.R.China
来源：
High Technology Letters | 2008年 / 14卷 / 03期
基金：
中国国家自然科学基金;
关键词：
spherical mobile robot; trajectory planning; Hamiltonian function;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
Designed for planetary exploration,a spherical mobile robot BHQ-1 was briefly introduced.The mo-tion model of BHQ-1 was established and quasi-velocities were introduced to simplify some dynamic quan-tities.Based on the model,the time- and energy-based optimal trajectory of BHQ-1 was planned withHamiltonian function. The effects of three key coefficients on the shape and direction of the planned tra-jectory were discussed by simulations.Experimental result of the robot ability in avoiding an obstacle waspresented to validate the trajectory planning method.
引用
收藏
页码：289 / 293
页数：5
相关论文
共 50 条
  • [11] Dynamic modeling and trajectory planning for a mobile spherical robot with a 3Dof inner mechanism
    Azizi, Mahmood Reza
    Naderi, Davood
    MECHANISM AND MACHINE THEORY, 2013, 64 : 251 - 261
  • [12] Trajectory planning toward the waypoint for mobile robot
    Noh, Jinhong
    Park, Jaehyung
    Wang, Haiyun
    Park, Jonghun
    Chang, Seongryong
    Huh, Ukyoul
    2015 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT), 2015, : 536 - 539
  • [13] Research on Trajectory Planning Problem of Robot in Spherical Cutting
    Jun, Min
    Jiang Wenping
    Zhao Huailin
    ICAROB 2019: PROCEEDINGS OF THE 2019 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS, 2019, : 364 - 369
  • [14] Trajectory planning for spherical robot using ant algorithm
    Rui, Yannian
    Gu, Jun
    Zhu, Hui
    Chen, Yexiang
    WMSCI 2006: 10TH WORLD MULTI-CONFERENCE ON SYSTEMICS, CYBERNETICS AND INFORMATICS, VOL II, PROCEEDINGS, 2006, : 224 - 227
  • [15] Research on Trajectory Planning Problem of Robot in Spherical Cutting
    Min Jun
    Jiang Wenping
    Zhao Huailin
    ICAROB 2019: PROCEEDINGS OF THE 2019 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS, 2019, : 358 - 363
  • [16] Trajectory Planning for a Reconfigurable Mobile Robot in Mobile Manipulating Mode
    Wang, Wei
    Lei, Zhao
    2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2014, : 42 - 47
  • [17] Industrial Robot Optimal Time Trajectory Planning Based on Genetic Algorithm
    Li, Guohong
    Wang, Yuanliang
    2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA), 2019, : 136 - 140
  • [18] Time-energy Optimal Trajectory Planning over a Fixed Path for a Wheeled Mobile Robot
    de Oliveira Serralheiro, Werther Alexandre
    Maruyama, Newton
    ICINCO: PROCEEDINGS OF THE 14TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS - VOL 2, 2017, : 239 - 246
  • [19] Global Optimal Trajectory Planning of Mobile Robot Grinding for High-Speed Railway Body
    Xu, Xiaohu
    Ye, Songtao
    Yang, Zeyuan
    Yan, Sijie
    Ding, Han
    INTELLIGENT ROBOTICS AND APPLICATIONS (ICIRA 2022), PT III, 2022, 13457 : 485 - 496
  • [20] Mobile robot trajectory planning using neural networks
    Mustafa, Doraid M.
    Tahboub, K.K.
    2003, Int. Assoc. of Science and Technology for Development (18)
12345