Time-Optimal Straight-Line Trajectory Planning on Hill for Two-Wheeled Mobile Robots

被引：0
|
作者：
Kim, Jae Sung [1 ]
Kim, Byung Kook [1 ]
机构：
[1] Korea Adv Inst Sci & Technol, Dept Elect Engn, Taejon 305701, South Korea
来源：
2013 10TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI) | 2013年
关键词：
Minimum time trajectory; hill; two-wheeled mobile robots;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The time-optimal straight-line trajectory planning problem on hill (TO-STH) is solved for two-wheeled mobile robots (TMRs). Our studies are based on the dynamics of mobile robots with actuator motors on hill. After formulating the dynamics, the TO-STH solution should be obtained satisfying initial/final postures/velocities, straight-line road on hill, and bounded motor control inputs. Then we developed TO-STH algorithm by phase-plane techniques with optimality condition. Finally, verification of the proposed algorithm is shown via extensive simulations.
引用
收藏
页码：565 / 570
页数：6
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