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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Joint Space Trajectory Planning Considering Physical Limits for Two-wheeled Mobile Robots

물리적 제한을 고려한 두 바퀴 로봇의 관절 공간 궤적 생성 방법

  • Yang, Gil-Jin (Graduate School in Dept. of Electrical Engineering, Seoul National University of Science and Technology) ;
  • Choi, Byoung-Wook (Dept. of Electrical and Information Engineering, Seoul National University of Science and Technology)
  • 양길진 (서울과학기술대학교 전기공학과) ;
  • 최병욱 (서울과학기술대학교 전기정보공학과)
  • Received : 2013.01.04
  • Accepted : 2013.03.28
  • Published : 2013.06.01
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Abstract

This paper presents a trajectory planning algorithm for TMR (Two-wheeled Mobile Robots). The trajectory is developed in joint space and considers the physical limits of a TMR. First, we present a process for generating a smooth curve through a Bezier curve. The trajectory for the center of the TMR following the Bezier curve is developed through a convolution operator taking into consideration its physical limits. The trajectory along the Bezier curve is regenerated using time-dependent parameters which correspond to the distance driven by the velocity of the center of the TMR in a sampling time. The velocity commands in the Cartesian space are converted to actuator commands for two wheels. In case that the actuator commands exceed the maximum velocity, the trajectory is redeveloped with compensated center velocity. We also suggest a smooth trajectory planning algorithm in joint space for the two segmented paths. Finally, the effectiveness of the algorithm is shown through numerical examples and application to a simulator.

Keywords

References

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