Time-optimal Velocity Planning Along Predefined Path for Static Formations of Mobile Robots

被引：13
|
作者：
Petrinic, Toni [1 ]
Brezak, Misel [2 ]
Petrovic, Ivan [3 ]
机构：
[1] HEP ODS Doo, Elektroprimorje Rijeka, Pogon Cres Losinj,Drazica 10, Mali Losinj 51550, Croatia
[2] Polytech Hrvatsko Zagorje Krapina, Setaliste Hrvatskog Narodnog Preporoda 6, Krapina 49000, Croatia
[3] Univ Zagreb, Fac Elect Engn & Comp, Unska 3, Zagreb 10000, Croatia
来源：
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2017年 / 15卷 / 01期
关键词：
Differential drive mobile robot; mobile robot formations; tip over and wheel slip prevention; trajectory planning; velocity and acceleration constraints;
D O I：
10.1007/s12555-015-0192-y
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 is concerned with the problem of finding a time-optimal velocity profile along the predefined path for static formations of mobile robots in order to traverse the path in shortest time and to satisfy, for each mobile robot in the formation, velocity, acceleration, tip over and wheel slip prevention constraints. Time-optimal velocity planning is achieved using so called bang-bang control where minimum and maximum accelerations of the formation are alternating. The developed trajectory planning algorithm is demonstrated on the formation of differential drive mobile robots.
引用
收藏
页码：293 / 302
页数：10
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