Time optimal path planning considering acceleration limits

被引：100

作者：

Lepetic, M ^{[1
]}

Klancar, G ^{[1
]}

Skrjanc, I ^{[1
]}

Matko, D ^{[1
]}

Potocnik, B ^{[1
]}

机构：

[1] Univ Ljubljana, Fac Elect Engn, SI-1000 Ljubljana, Slovenia

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2003年 / 45卷 / 3-4期

关键词：

mobile robots; path planning; acceleration limits; spline curve; velocity profile;

D O I：

10.1016/j.robot.2003.09.007

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A robot path planning technique is proposed in the paper. It was developed for robots with differential drive, but with minor modifications it could be used for all types of nonholonomic robots. The path was planned in the way to minimise the time of reaching the end point in desired direction and with desired velocity, starting from the initial state described by the start point, initial direction and initial velocity. The limitation was the grip of the tires that results in the acceleration limits. The path is presented as a spline curve and was optimised by placing the control points through which the curve should pass. (C) 2003 Elsevier B.V. All rights reserved.

引用

页码：199 / 210

页数：12

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