Real-time trajectory generation for omni-directional vehicles by constrained dynamic inversion

被引：12

作者：

Kalmar-Nagy, Tamas ^{[1
]}

机构：

[1] Budapest Univ Technol & Econ, Dept Fluid Mech, Fac Mech Engn, Bertalan Lajos U 4-6, H-1111 Budapest, Hungary

来源：

MECHATRONICS | 2016年 / 35卷

关键词：

Omni-directional vehicle; Trajectory generation; Dynamic inversion; OPTIMIZATION; MODEL;

D O I：

10.1016/j.mechatronics.2015.12.004

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a computationally efficient algorithm for real-time trajectory generation for omnidirectional vehicles. The algorithm uses a dynamic inversion based approach that incorporates vehicle dynamics, actuator saturation and bounded acceleration. The algorithm is compared with other trajectory generation algorithms for omni-directional vehicles. The method yields good quality trajectories and is implementable in real-time. Numerical and hardware tests are presented. (C) 2016 Elsevier Ltd. All rights reserved.

引用

页码：44 / 53

页数：10

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