Pregled bibliografske jedinice broj: 809726
Time-Optimal Velocity Planning Along Predefined Path for Static Formations of Mobile Robots
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
Citiraj ovu publikaciju:
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
