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Trajectory Planning to Improve the Motion Performance for a Nonholonomic Wheeled Mobile Robot
http://hdl.handle.net/10173/1498
http://hdl.handle.net/10173/1498d12f3c11-7619-4dbb-829a-9c2414b0098a
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
28-10.pdf (529.8 kB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
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| 公開日 | 2017-03-24 | |||||
| タイトル | ||||||
| タイトル | Trajectory Planning to Improve the Motion Performance for a Nonholonomic Wheeled Mobile Robot | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Wheeled mobile robot | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Noholonomic constraint | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | On-line trajectory planning | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Motion control | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Dynamics | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | journal article | |||||
| 著者 |
Wang, Yina
× Wang, Yina× Wang, Shuoyu× Jiang, Yinlai× Hamakuchi, Kzuhiro× Ishida, Kenji× Kobayashi, Yo× Fujie, Masakatsu G. |
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| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | Wheeled mobile robots suitable for a variety of applications in a wide field have been studied for many years. In any application, it is necessary to ensure the motion performance of a wheeled mobile robot to guarantee its reliability and security. However, it is difficult to control the motion of wheeled mobile robot because it is a three-dimensional two-input nonholonomic system. In this paper, we address the problem of motion under nonholonomic constraints for the wheeled mobile robot based on the fact that one can direct a nonholonomic automobile to track any path in a wide space by adjusting its velocity and orientation angle on-line. First, an on-line trajectory planning method is proposed to generate the reference velocity and the orientation angle according to the target position and the robot's current position. Then, the feedback velocity and orientation control law are designed based on the dynamic model. Finally, experiments are conducted to demonstrate the effectiveness of the proposed controller. | |||||
| 書誌情報 |
ICIC Express Letters 巻 8, 号 1, p. 295-301, 発行日 2014-01 |
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| ISSN | ||||||
| 収録物識別子タイプ | ISSN | |||||
| 収録物識別子 | 1881-803X | |||||
| 権利 | ||||||
| 権利情報 | ICIC International © 2014 | |||||
| 著者版フラグ | ||||||
| 出版タイプ | VoR | |||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
| 出版者 | ||||||
| 出版者 | ICIC International | |||||
