Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Efficient Minimum-Time Cornering Motion Planning for Differential-Driven Wheeled Mobile Robots with Motor Control Input Constraint

모터 제어 입력 제한 조건이 고려된 차륜 이동 로봇을 위한 효율적인 최소 시간 코너링(Cornering) 주행 계획

  • Received : 2012.06.15
  • Accepted : 2012.12.09
  • Published : 2013.01.01
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Abstract

We propose an efficient minimum-time cornering motion planning algorithms for differential-driven wheeled mobile robots with motor control input constraint, under piecewise constant control input sections. First, we established mobile robot's kinematics and dynamics including motors, divided the cornering trajectory for collision-free into one translational section, followed by one rotational section with angular acceleration, and finally the other rotational section with angular deceleration. We constructed an efficient motion planning algorithm satisfying the bang-bang principle. Various simulations and experiments reveal the performance of the proposed algorithm.

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References

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