Time-optimal velocity planning along predefined path for static formations of mobile robots

被引：0
|
作者：
Toni Petrinić
Mišel Brezak
Ivan Petrović
机构：
[1] Pogon Cres-Lošinj,HEP
[2] Dražica 10,ODS d.o.o., Elektroprimorje Rijeka
[3] Polytechnic Hrvatsko Zagorje Krapina,University of Zagreb
[4] Faculty of Electrical Engineering and Computing,undefined
[5] Unska 3,undefined
来源：
International Journal of Control, Automation and Systems | 2017年 / 15卷
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：
暂无
中图分类号：
学科分类号：
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：9
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