Trajectory generation for four wheeled omnidirectional vehicles

被引：13
|
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：
ACC: PROCEEDINGS OF THE 2005 AMERICAN CONTROL CONFERENCE, VOLS 1-7 | 2005年
关键词：
D O I：
10.1109/ACC.2005.1470795
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 omnidirectional vehicles, which can be used as part of a high-level path planner. The basis is an optimal control algorithm with relaxations to reduce the required computational effort. It takes limited friction and vehicle dynamics into account, as encountered in high-performance omnidirectional vehicles. The algorithm is written with modest computational resources in mind, so that it is possible to control an omnidirectional vehicle in real time in a fast paced environment.
引用
收藏
页码：4979 / 4984
页数：6
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