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

被引：2
作者：
陈明
机构：
[1] RoboticsInstitute,BeijingUniversityofAeronauticsandAstronautics,Beijing,PRChina
来源：
HighTechnologyLetters | 2008年 / 14卷 / 03期
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：
<正>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
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