Title :
Minimum-time trajectory generation algorithm along curved paths for mobile robots with a motor control input constraint
Author :
Jae Sung Kim ; Byung Kook Kim
Author_Institution :
Electr. Eng. Dept., Korea Adv. Inst. of Sci. & Technol., Daejeon, South Korea
Abstract :
The minimum-time trajectory generation problem along curved paths (MTTG-CP) is solved for two-wheeled mobile robots (TMRs) with a motor control input constraint. First, we formulate the admissible region for two-wheeled mobile robots with a motor control input constraint (AR-TM). Second, we identify the characteristic switching points (CSPs) to construct limit curve. Third, we determine a bang-bang control input solution at each traveled distance. Finally, we suggest a MTTG-CP algorithm based on the bang-bang control using phase-plane technique within the limit curve. Validity of our minimum-time trajectory generation algorithm along the clothoidal curved path is revealed via extensive simulations.
Keywords :
bang-bang control; constraint handling; mobile robots; trajectory control; AR-TM; CSP; MTTG-CP algorithm; TMR; bang-bang control; characteristic switching points; clothoidal curved path; limit curve; minimum-time trajectory generation algorithm; minimum-time trajectory generation algorithm along curved paths; motor control input constraint; phase-plane technique; two-wheeled mobile robots; Bang-bang control; Mobile robots; Motor drives; Trajectory; Tunneling magnetoresistance; Wheels;
Conference_Titel :
System Integration (SII), 2012 IEEE/SICE International Symposium on
Conference_Location :
Fukuoka
Print_ISBN :
978-1-4673-1496-1
DOI :
10.1109/SII.2012.6427359