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

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