Trajectory generation and control for four wheeled omnidirectional vehicles

被引：62

作者：

Purwin, O ^{[1
]}

D'Andrea, R ^{[1
]}

机构：

[1] Cornell Univ, Sibley Sch Mech & Aerosp Engn, Ithaca, NY 14853 USA

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2006年 / 54卷 / 01期

基金：

美国国家科学基金会;

关键词：

trajectory generation; real-time path planning; omnidirectional vehicle; bang-bang control;

D O I：

10.1016/j.robot.2005.10.002

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 describes an algorithm to calculate near-optimal minimum time trajectories for four wheeled omnidirectional vehicles, which can be used as part of a high-level path planner. The algorithm is based on a relaxed optimal control problem. It takes limited friction and vehicle dynamics into account, as encountered in high-performance omnidirectional vehicles. The low computational complexity makes the application in real-time feasible. An implementation of the algorithm on a real vehicle is presented and discussed. (C) 2005 Elsevier B.V. All rights reserved.

引用

页码：13 / 22

页数：10

共 50 条

[1] Trajectory generation for four wheeled omnidirectional vehicles
Purwin, O
D'Andrea, R
ACC: PROCEEDINGS OF THE 2005 AMERICAN CONTROL CONFERENCE, VOLS 1-7, 2005, : 4979 - 4984
[2] Obstacle Avoiding Real-Time Trajectory Generation and Control of Omnidirectional Vehicles
Choi, Ji-wung
Curry, Renwick E.
Elkaim, Gabriel Hugh
2009 AMERICAN CONTROL CONFERENCE, VOLS 1-9, 2009, : 5510 - 5515
[3] LQR Trajectory Tracking Control of an Omnidirectional Wheeled Mobile Robot
Morales, Sergio
Magallanes, Jose
Delgado, Cesar
Canahuire, Ruth
2018 IEEE 2ND COLOMBIAN CONFERENCE ON ROBOTICS AND AUTOMATION (CCRA), 2018,
[4] A nonlinear model predictive control strategy for trajectory tracking of a four-wheeled omnidirectional mobile robot
Conceicao, Andre Scolari
Moreira, A. Paulo
Costa, Paulo J.
OPTIMAL CONTROL APPLICATIONS & METHODS, 2008, 29 (05): : 335 - 352
[5] Segment-wise optimal trajectory execution control for four-wheeled omnidirectional mobile robots
Lupian, Luis F.
Rabadan-Martin, Josue R.
2009 6TH LATIN AMERICAN ROBOTICS SYMPOSIUM, 2009, : 39 - 44
[6] Real-time trajectory generation for omnidirectional vehicles
Kalmár-Nagy, T
Ganguly, P
D'Andrea, R
PROCEEDINGS OF THE 2002 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2002, 1-6 : 286 - 291
[7] Trajectory tracking control of four-wheeled omnidirectional mobile robot considering time consumption in obstacle bypass
Wang S.
Fu Q.
Jiang L.
Xie Y.
Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition), 2023, 51 (06): : 1 - 9
[8] Design and control of a four-wheeled omnidirectional mobile robot with steerable omnidirectional wheels
Song, JB
Byun, KS
JOURNAL OF ROBOTIC SYSTEMS, 2004, 21 (04): : 193 - 208
[9] Trajectory tracking control for four-wheeled omnidirectional mobile robot using Backstepping technique aggregated with sliding mode control
Kim Duyen Ha Thi
Manh Cuong Nguyen
Hoang Thuat Vo
Van Manh Tran
Duc Dinh Nguyen
Anh Dung Bui
2019 FIRST INTERNATIONAL SYMPOSIUM ON INSTRUMENTATION, CONTROL, ARTIFICIAL INTELLIGENCE, AND ROBOTICS (ICA-SYMP 2019), 2019, : 131 - 134
[10] Lane Keeping Control on Mecanum Wheeled Omnidirectional Vehicles Using Laser Scanner
Chen Tianyuan
Xie Ling
Han Yongqiang
Luo Hanglong
PROCEEDINGS OF THE 30TH CHINESE CONTROL AND DECISION CONFERENCE (2018 CCDC), 2018, : 3404 - 3409

← 1 2 3 4 5 →