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  1. 学術雑誌論文

Trajectory Planning to Improve the Motion Performance for a Nonholonomic Wheeled Mobile Robot

http://hdl.handle.net/10173/1498
http://hdl.handle.net/10173/1498
d12f3c11-7619-4dbb-829a-9c2414b0098a
名前 / ファイル ライセンス アクション
28-10.pdf 28-10.pdf (529.8 kB)
Item type 学術雑誌論文 / Journal Article(1)
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

WEKO 1457

Wang, Yina

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Wang, Shuoyu

× Wang, Shuoyu

WEKO 1458

Wang, Shuoyu

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Jiang, Yinlai

× Jiang, Yinlai

WEKO 1459

Jiang, Yinlai

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Hamakuchi, Kzuhiro

× Hamakuchi, Kzuhiro

WEKO 1460

Hamakuchi, Kzuhiro

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Ishida, Kenji

× Ishida, Kenji

WEKO 1461

Ishida, Kenji

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Kobayashi, Yo

× Kobayashi, Yo

WEKO 1462

Kobayashi, Yo

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Fujie, Masakatsu G.

× Fujie, Masakatsu G.

WEKO 1463

Fujie, Masakatsu G.

Search repository
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
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
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