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

页码：289 / 293

页数：5

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