Time-Optimal Velocity Planning Along Predefined Path for Static Formations of Mobile Robots (CROSBI ID 226863)
Prilog u časopisu | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Petrinić, Toni ; Brezak, Mišel ; Petrović, Ivan
engleski
Time-Optimal Velocity Planning Along Predefined Path for Static Formations of Mobile Robots
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.
differential drive mobile robot ; mobile robot formations ; velocity and acceleration constraints ; tip over and wheel slip prevention ; trajectory planning
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Podaci o izdanju
15 (1)
2017.
293-302
objavljeno
1598-6446
10.1007/s12555-015-0192-y
Povezanost rada
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti