Title :
Time-optimal motions for a torque controlled wheeled mobile robot along specified paths
Author :
Fourquet, Jean-Yves ; Renaud, Marc
Author_Institution :
Lab. d´´Anal. et d´´Archit. des Syst., CNRS, Toulouse, France
Abstract :
This paper deals with the problem of finding the time-optimal motion along a predefined path that satisfies the non-holonomic rolling without slipping constraint for a class of wheeled mobile robots described by their dynamical model. Admissible paths are first described. Then, an algorithm is proposed that gives the optimal motion
Keywords :
mobile robots; motion control; path planning; robot dynamics; robot kinematics; time optimal control; admissible paths; dynamical model; nonholonomic rolling; time-optimal motions; torque controlled wheeled mobile robot; Control systems; H infinity control; Mobile robots; Motion control; Open loop systems; Orbital robotics; Path planning; Robot control; Robot kinematics; Torque control;
Conference_Titel :
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location :
Kobe
Print_ISBN :
0-7803-3590-2
DOI :
10.1109/CDC.1996.573729
