{"title":"两轮移动机器人的时间最优爬坡直线轨迹规划","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":"{\"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}","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}
Time-optimal straight-line trajectory planning on hill for two-wheeled mobile robots
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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