Pregled bibliografske jedinice broj: 524664
Time-Optimal Trajectory Planning Along Predefined Path for Mobile Robots with Velocity and Acceleration Constraints
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 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
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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
/ - Budimpešta, 2011, 942-947
Skup
IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) 2011
Mjesto i datum
Budimpešta, Mađarska, 03.07.2011. - 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
Projekti:
036-0361621-3012 - Napredne strategije upravljanja i estimacije u složenim sustavima (Perić, Nedjeljko, MZO ) ( CroRIS)
036-0363078-3018 - Upravljanje mobilnim robotima i vozilima u nepoznatim i dinamičkim okruženjima (Petrović, Ivan, MZO ) ( CroRIS)
Ustanove:
Fakultet elektrotehnike i računarstva, Zagreb
