Maximum Velocity Trajectory Planning for Mobile Robots Considering Wheel Velocity Limit
نویسندگان
چکیده
منابع مشابه
Trajectory Planning for Mobile Robots with Considering Velocity Constraints on Xenomai
This paper presents an implementation of trajectory planning method while considering velocity constraints for a two-wheeled mobile robot (TMR) on Xenomai. A Bezier curve is utilized to make an S-curved path. A convolution operator is used to generate a velocity profile of the travel distance of the planned path while considering the velocity constraints of the TMR. The trajectory planning and ...
متن کاملDirect Optimal Motion Planning for Omni-directional Mobile Robots under Limitation on Velocity and Acceleration
This paper describes a low computational direct approach for optimal motion planning and obstacle avoidance of Omni-directional mobile robots within velocity and acceleration constraints on the robot motion. The main purpose of this problem is the minimization of a quadratic cost function while limitation on velocity and acceleration of robot is considered and collision with any obstacle in the...
متن کاملSmooth Trajectory Planning Along Bezier Curve for Mobile Robots with Velocity Constraints
This paper presents a smooth path planning method considering physical limits for twowheeled mobile robots (TMRs). A Bezier curve is utilized to make an S-curve path. A convolution operator is used to generate the center velocity trajectory to travel the distance of the planned path while considering the physical limits. The trajectory gained through convolution does not consider the direction ...
متن کاملProducing Complex Behaviours on Trajectory Velocity Learning Mobile Robots
This paper describes a novel and effective method for devising complex behaviours on a mobile robot that is considerably easier to implement than most existing robot control methods. Instead of designing multiple behaviours and a subsumption layer for selecting behaviours, this method provides the robot with only one behaviour (goal seeking) and produces more complex behaviours by altering the ...
متن کاملObstacle-avoiding Path Planning for High Velocity Wheeled Mobile Robots
This paper presents a new motion planning algorithm for wheeled mobile robots in presence of known static obstacles, especially well-suited for high velocity situations. It takes into account several conditions traditionally attached to smooth path planning, i.e. paths with continuous derivative and upper-bounded curvature. It makes use of a global path planner which exploits polynomial G curve...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Institute of Control, Robotics and Systems
سال: 2015
ISSN: 1976-5622
DOI: 10.5302/j.icros.2015.14.0135