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Minimum-time trajectory generation algorithm along curved paths for mobile robots with a motor control input constraint | IEEE Conference Publication | IEEE Xplore

Minimum-time trajectory generation algorithm along curved paths for mobile robots with a motor control input constraint


Abstract:

The minimum-time trajectory generation problem along curved paths (MTTG-CP) is solved for two-wheeled mobile robots (TMRs) with a motor control input constraint. First, w...Show More

Abstract:

The minimum-time trajectory generation problem along curved paths (MTTG-CP) is solved for two-wheeled mobile robots (TMRs) with a motor control input constraint. First, we formulate the admissible region for two-wheeled mobile robots with a motor control input constraint (AR-TM). Second, we identify the characteristic switching points (CSPs) to construct limit curve. Third, we determine a bang-bang control input solution at each traveled distance. Finally, we suggest a MTTG-CP algorithm based on the bang-bang control using phase-plane technique within the limit curve. Validity of our minimum-time trajectory generation algorithm along the clothoidal curved path is revealed via extensive simulations.
Date of Conference: 16-18 December 2012
Date Added to IEEE Xplore: 04 February 2013
ISBN Information:
Conference Location: Fukuoka, Japan

References

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