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

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Maximum Velocity Trajectory Planning for Mobile Robots Considering Wheel Velocity Limit

이동로봇의 바퀴 속도 제한을 고려한 최대 속도궤적 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 Engineering, Seoul National University of Science and Technology)
  • 양길진 (서울과학기술대학교 일반대학원 전기공학과) ;
  • 최병욱 (서울과학기술대학교 전기정보공학과)
  • Received : 2014.12.09
  • Accepted : 2015.01.30
  • Published : 2015.05.01
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Abstract

This paper presents a maximum velocity trajectory planning algorithm for differential mobile robots with wheel velocity constraint to cope with physical limits in the joint space for two-wheeled mobile robots (TMR). In previous research, the convolution operator was able to generate a central velocity that deals with the physical constraints of a mobile robot while considering the heading angles along a smooth curve in terms of time-dependent parameter. However, the velocity could not track the predefined path. An algorithm is proposed to compensate an error that occurs between the actual and driven distance by the velocity of the center of a TMR within a sampling time. The velocity commands in Cartesian space are also converted to actuator commands to drive two wheels. In the case that the actuator commands exceed the maximum velocity the trajectory is redeveloped with the compensated center velocity. The new center velocity is obtained according to the curvature of the path to provide a maximum allowable velocity meaning a time-optimal trajectory. The effectiveness of the algorithm is shown through numerical examples.

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References

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