Real-time trajectory generation for omni-directional vehicles by constrained dynamic inversion

被引：11
|
作者：
Kalmar-Nagy, Tamas [1 ]
机构：
[1] Budapest Univ Technol & Econ, Dept Fluid Mech, Fac Mech Engn, Bertalan Lajos U 4-6, H-1111 Budapest, Hungary
来源：
MECHATRONICS | 2016年 / 35卷
关键词：
Omni-directional vehicle; Trajectory generation; Dynamic inversion; OPTIMIZATION; MODEL;
D O I：
10.1016/j.mechatronics.2015.12.004
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 presents a computationally efficient algorithm for real-time trajectory generation for omnidirectional vehicles. The algorithm uses a dynamic inversion based approach that incorporates vehicle dynamics, actuator saturation and bounded acceleration. The algorithm is compared with other trajectory generation algorithms for omni-directional vehicles. The method yields good quality trajectories and is implementable in real-time. Numerical and hardware tests are presented. (C) 2016 Elsevier Ltd. All rights reserved.
引用
收藏
页码：44 / 53
页数：10
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