Near-time-optimal trajectory planning for wheeled mobile robots with translational and rotational sections.

Near-time-optimal trajectory planning for wheeled mobile robots with translational and rotational sections.

We derive a near-time-optimal trajectory for wheeled mobile robots (WMRs) satisfying the following: 1) initial and final postures/velocities; and 2) battery voltage and armature current constraints, under assumptions of simplified dynamics and constant translational/rotational velocity sections. We...

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Detalles Bibliográficos
Publicado en:IEEE Transactions on robotics and automation 17, 1 (2001).
Autor principal: Jong-Suk Choi
Formato: Artículo
Lenguaje:English
Materias:
Current constraint.
Dynamics.
Motion control.
Path-following.
Rotational velocities.
Time-optimal trajectory.
Trajectory planning.
Translational velocities.
Voltage constraint.
Wheeled mobile robots.