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http://dx.doi.org/10.5302/J.ICROS.2013.19.1.056

Efficient Minimum-Time Cornering Motion Planning for Differential-Driven Wheeled Mobile Robots with Motor Control Input Constraint  

Kim, Jae-Sung (KAIST)
Kim, Byung-Kook (KAIST)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.1, 2013 , pp. 56-64 More about this Journal
Abstract
We propose an efficient minimum-time cornering motion planning algorithms for differential-driven wheeled mobile robots with motor control input constraint, under piecewise constant control input sections. First, we established mobile robot's kinematics and dynamics including motors, divided the cornering trajectory for collision-free into one translational section, followed by one rotational section with angular acceleration, and finally the other rotational section with angular deceleration. We constructed an efficient motion planning algorithm satisfying the bang-bang principle. Various simulations and experiments reveal the performance of the proposed algorithm.
Keywords
planning; differential-driven wheeled mobile robots; motor control input constraint; cornering motion problem;
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Times Cited By KSCI : 2  (Citation Analysis)
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