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

共 50 条

[41] Time-optimal and Smooth Trajectory Planning for Robot Manipulators [J].

Tie Zhang ;

Meihui Zhang ;

Yanbiao Zou .

International Journal of Control, Automation and Systems, 2021, 19 :521-531

[42] Time-optimal and Smooth Trajectory Planning for Robot Manipulators [J].

Zhang, Tie ;

Zhang, Meihui ;

Zou, Yanbiao .

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2021, 19 (01) :521-531

[43] Trajectory Planning for Industrial Robot Based on MATLAB [J].

Fu, Xiancheng ;

Wen, Guojun ;

Chen, Han .

ADVANCES IN ELECTRONIC COMMERCE, WEB APPLICATION AND COMMUNICATION, VOL 2, 2012, 149 :53-57

[44] Time-Optimal Trajectory Planning of Permanent Magnet Spherical Motor Based on Genetic Algorithm [J].

Zhao, Lijuan ;

Li, Guoli ;

Guo, Xiwen ;

Li, Shen ;

Wen, Yan ;

Ye, Qiubo .

PROCEEDINGS OF THE 2017 12TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA), 2017, :828-833

[45] A Solution for Trajectory Planning and Control of Cooperative Steering Mobile Robot Based on Time Elastic Band [J].

Xuehao Sun ;

Shuchao Deng ;

Baohong Tong ;

Shuang Wang ;

Chenyang Zhang .

Journal of Computer and Systems Sciences International, 2022, 61 :1046-1057

[46] A Solution for Trajectory Planning and Control of Cooperative Steering Mobile Robot Based on Time Elastic Band [J].

Sun, Xuehao ;

Deng, Shuchao ;

Tong, Baohong ;

Wang, Shuang ;

Zhang, Chenyang .

JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL, 2022, 61 (06) :1046-1057

[47] Trajectory Planning of Industrial Robot Based on Improved Radial Basis Function Neural Network [J].

Li, Xiong ;

Du, Yuyuan ;

Qu, Dongxu .

2024 3RD INTERNATIONAL CONFERENCE ON ROBOTICS, ARTIFICIAL INTELLIGENCE AND INTELLIGENT CONTROL, RAIIC 2024, 2024, :193-197

[48] Reference velocity optimization base on LMPC for mobile robot trajectory planning [J].

Zhang, Yuhao ;

Tao, Bo ;

Zhao, Xingwei .

2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019), 2019, :98-102

[49] Trajectory planning based on latitude for painting on spherical surface [J].

Chen Youdong ;

Lu Xiaodong ;

Wei Hongxing .

2012 10TH IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL INFORMATICS (INDIN), 2012, :431-435

[50] Time-Jerk Synthetic Optimal Trajectory Planning of Robot Based on Fuzzy Genetic Algorithm [J].

Cong, Ming ;

Xu, Xiaofei ;

Xu, Peter .

2008 15TH INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP), 2008, :269-+

← 1 2 3 4 5 →