期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 27, 期 4, 页码 800-808出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2011.2138490
关键词
Bounded-curvature path; dynamics; minimum-time trajectory; three-wheeled omnidirectional robot
类别
资金
- Ministry of Knowledge Economy
- Ministry of Public Safety & Security (MPSS), Republic of Korea [C1080-1101-0001] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
The minimum-time trajectory planning problem for three-wheeled omnidirectional mobile robots (TOMRs) is solved based on the combined dynamic model of a mobile robot and dc motor actuators, under the constraint of bounded control inputs due to the battery voltage. We constrain that the bounded-curvature path based on a smooth road (which is described as a clothoid) be given for the translational motion of the TOMR and that the reference profile with respect to the path-length parameter be predetermined for the heading motion of the TOMR. The dynamics of the TOMR is transformed into normal and tangent spaces for motion analysis on the bounded-curvature path. We find out the time-optimality condition of the TOMR, which imposes that the input voltage vector of three motors should have at least one extreme component. Based on the optimality condition, we present a systematic way to construct the optimal control input vector. Finally, several examples are analyzed by the use of the proposed method.
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