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Pregled bibliografske jedinice broj: 809726

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


Petrinić, Toni; Brezak, Mišel; Petrović, Ivan
Time-Optimal Velocity Planning Along Predefined Path for Static Formations of Mobile Robots // International journal of control automation and systems, 15 (2017), 1; 293-302 doi:10.1007/s12555-015-0192-y (međunarodna recenzija, članak, znanstveni)


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

Autori
Petrinić, Toni ; Brezak, Mišel ; Petrović, Ivan

Izvornik
International journal of control automation and systems (1598-6446) 15 (2017), 1; 293-302

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
differential drive mobile robot ; mobile robot formations ; velocity and acceleration constraints ; tip over and wheel slip prevention ; trajectory planning

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti



POVEZANOST RADA


Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb

Profili:

Avatar Url Mišel Brezak (autor)

Avatar Url Ivan Petrović (autor)

Citiraj ovu publikaciju

Petrinić, Toni; Brezak, Mišel; Petrović, Ivan
Time-Optimal Velocity Planning Along Predefined Path for Static Formations of Mobile Robots // International journal of control automation and systems, 15 (2017), 1; 293-302 doi:10.1007/s12555-015-0192-y (međunarodna recenzija, članak, znanstveni)
Petrinić, T., Brezak, M. & Petrović, I. (2017) Time-Optimal Velocity Planning Along Predefined Path for Static Formations of Mobile Robots. International journal of control automation and systems, 15 (1), 293-302 doi:10.1007/s12555-015-0192-y.
@article{article, year = {2017}, pages = {293-302}, DOI = {10.1007/s12555-015-0192-y}, keywords = {differential drive mobile robot, mobile robot formations, velocity and acceleration constraints, tip over and wheel slip prevention, trajectory planning}, journal = {International journal of control automation and systems}, doi = {10.1007/s12555-015-0192-y}, volume = {15}, number = {1}, issn = {1598-6446}, title = {Time-Optimal Velocity Planning Along Predefined Path for Static Formations of Mobile Robots}, keyword = {differential drive mobile robot, mobile robot formations, velocity and acceleration constraints, tip over and wheel slip prevention, trajectory planning} }
@article{article, year = {2017}, pages = {293-302}, DOI = {10.1007/s12555-015-0192-y}, keywords = {differential drive mobile robot, mobile robot formations, velocity and acceleration constraints, tip over and wheel slip prevention, trajectory planning}, journal = {International journal of control automation and systems}, doi = {10.1007/s12555-015-0192-y}, volume = {15}, number = {1}, issn = {1598-6446}, title = {Time-Optimal Velocity Planning Along Predefined Path for Static Formations of Mobile Robots}, keyword = {differential drive mobile robot, mobile robot formations, velocity and acceleration constraints, tip over and wheel slip prevention, trajectory planning} }

Časopis indeksira:


  • Current Contents Connect (CCC)
  • Web of Science Core Collection (WoSCC)
    • Science Citation Index Expanded (SCI-EXP)
    • SCI-EXP, SSCI i/ili A&HCI
  • Scopus


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