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http://dx.doi.org/10.5302/J.ICROS.2013.13.1860

Joint Space Trajectory Planning Considering Physical Limits for Two-wheeled Mobile Robots  

Yang, Gil-Jin (Graduate School in Dept. of Electrical Engineering, Seoul National University of Science and Technology)
Choi, Byoung-Wook (Dept. of Electrical and Information Engineering, Seoul National University of Science and Technology)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.19, no.6, 2013 , pp. 540-546 More about this Journal
Abstract
This paper presents a trajectory planning algorithm for TMR (Two-wheeled Mobile Robots). The trajectory is developed in joint space and considers the physical limits of a TMR. First, we present a process for generating a smooth curve through a Bezier curve. The trajectory for the center of the TMR following the Bezier curve is developed through a convolution operator taking into consideration its physical limits. The trajectory along the Bezier curve is regenerated using time-dependent parameters which correspond to the distance driven by the velocity of the center of the TMR in a sampling time. The velocity commands in the Cartesian space are converted to actuator commands for two wheels. In case that the actuator commands exceed the maximum velocity, the trajectory is redeveloped with compensated center velocity. We also suggest a smooth trajectory planning algorithm in joint space for the two segmented paths. Finally, the effectiveness of the algorithm is shown through numerical examples and application to a simulator.
Keywords
trajectory planning; Bezier curve; convolution operator; configuration space; mobile robots;
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Times Cited By KSCI : 3  (Citation Analysis)
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