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Time-Optimal Trajectory Planning Along Predefined Path for Mobile Robots with Velocity and Acceleration Constraints (CROSBI ID 575163)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Brezak, Mišel ; Petrović, Ivan Time-Optimal Trajectory Planning Along Predefined Path for Mobile Robots with Velocity and Acceleration Constraints // Proceedings on 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Budimpešta, 2011. str. 942-947

Podaci o odgovornosti

Brezak, Mišel ; Petrović, Ivan

engleski

Time-Optimal Trajectory Planning Along Predefined Path for Mobile Robots with Velocity and Acceleration Constraints

This paper is concerned with the problem of finding an optimal velocity profile along the predefined path in order to traverse the path in shortest time. A dynamic model of the mobile robot that accounts for robot actuator constraints is derived. It is shown how to use this dynamic model to express acceleration limits and velocity limit curve required by the optimal time-scaling algorithm. The developed trajectory planning algorithm is demonstrated on the Pioneer 3DX mobile robot. A method is very flexible and can be extended to account for other constraints, such as limited grip between the robot wheels and the ground.

Time-optimal Trajectory Planning; Velocity and Acceleration Constraints; Motion Planning; Mobile robot

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Podaci o prilogu

942-947.

2011.

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objavljeno

Podaci o matičnoj publikaciji

Proceedings on 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Budimpešta:

Podaci o skupu

IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 2011

predavanje

03.07.2011-07.07.2011

Budimpešta, Mađarska

Povezanost rada

Elektrotehnika, Računarstvo, Temeljne tehničke znanosti