DocumentCode
307104
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
Volume
3
fYear
1996
fDate
11-13 Dec 1996
Firstpage
3587
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1996., Proceedings of the 35th IEEE Conference on
Conference_Location
Kobe
ISSN
0191-2216
Print_ISBN
0-7803-3590-2
Type
conf
DOI
10.1109/CDC.1996.573729
Filename
573729
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