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


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
Budapest, 2011. str. 942-947 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


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

Autori
Brezak, Mišel ; Petrović, Ivan

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings on 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics / - Budapest, 2011, 942-947

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

Mjesto i datum
Budimpešta, Mađarska, 03-07.07.2011.

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

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

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Projekt / tema
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Nedjeljko Perić, )
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Ivan Petrović, )

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb