{"title":"Time-optimal straight-line trajectory planning on hill for two-wheeled mobile robots","authors":"J. Kim, B. Kim","doi":"10.1109/URAI.2013.6677421","DOIUrl":null,"url":null,"abstract":"The time-optimal straight-line trajectory planning problem on hill (TO-STH) is solved for two-wheeled mobile robots (TMRs). Our studies are based on the dynamics of mobile robots with actuator motors on hill. After formulating the dynamics, the TO-STH solution should be obtained satisfying initial/final postures/velocities, straight-line road on hill, and bounded motor control inputs. Then we developed TO-STH algorithm by phase-plane techniques with optimality condition. Finally, verification of the proposed algorithm is shown via extensive simulations.","PeriodicalId":431699,"journal":{"name":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2013-12-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/URAI.2013.6677421","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
The time-optimal straight-line trajectory planning problem on hill (TO-STH) is solved for two-wheeled mobile robots (TMRs). Our studies are based on the dynamics of mobile robots with actuator motors on hill. After formulating the dynamics, the TO-STH solution should be obtained satisfying initial/final postures/velocities, straight-line road on hill, and bounded motor control inputs. Then we developed TO-STH algorithm by phase-plane techniques with optimality condition. Finally, verification of the proposed algorithm is shown via extensive simulations.
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