Dynamic trajectory planning of a spherical mobile robot

被引：0
|
作者：
Zhan, Qiang [1 ]
Zhou, Tingzhi [1 ]
Chen, Ming [1 ]
Cai, Sanlong [1 ]
机构：
[1] Beijing Univ Aeronaut & Astronaut, Robot Res Inst, Beijing 100083, Peoples R China
来源：
2006 IEEE CONFERENCE ON ROBOTICS, AUTOMATION AND MECHATRONICS, VOLS 1 AND 2 | 2006年
关键词：
spherical mobile robot; dynamic modelling; nonholonomic; trajectory planning;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A spherical mobile robot, BHQ-1, designed for environment exploration, was briefly introduced. The dynamic model of BHQ-1 was established with a simplified BoltzmannHamel equation. From the dynamic model the expressions of the input moments of two motors to drive the robot are deduced when the robot moves along straight trajectory and circular trajectory separately. Simulation result of the robot to track a complex trajectory and experiments of the robot to avoid an obstacle show the trajectory planning method is effective.
引用
收藏
页码：582 / +
页数：2
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