• 제목/요약/키워드: Trajectory generation

검색결과 265건 처리시간 0.038초

이동 로보트를 위한 궤적 계획방법 (Trajectory generation for mobile robot)

  • 정일호;임준홍
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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    • pp.25-30
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    • 1992
  • In this paper, the problem of trajectory generation for mobile robots is investigated. The robot trajectory is generated so that smooth turns are guaranteed. Also the kinematic constraints of the actual robot are considered and incorporated in the trajectory generation.

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다자유도 기계 시스템의 모션 제어를 위한 동기된 온라인 궤적 생성 방법 (Synchronized On-line Trajectory Generation Method for Mechanical System with Multiple Degrees-of-Freedom)

  • 원대희;신은철
    • 전기학회논문지
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    • 제66권9호
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    • pp.1385-1391
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    • 2017
  • This work presents a synchronized on-line trajectory generation algorithm for mechanical system with multiple degrees-of-freedom. Proposed algorithm is designed to generate time-optimized trajectories and synchronized trajectories under the constraints such as maximum speed, acceleration, deceleration, non-zero initial velocity, etc. Also, because of small computation time, therefore this can be applied in real-time and it is easier to change the trajectory when an event occurs. We verified the feasibility through various trajectory generation.

FLIGHT TRAJECTORY CONTOLLER FOR NONLINEAR MANEUVER(GENERATION OF A DESIRED TRAJECTORY BY SPLINE THEORY)

  • Baba, Yoriaki;Takano, Hiroyuki;Sano, Masaki
    • 제어로봇시스템학회:학술대회논문집
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    • 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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    • pp.376-379
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    • 1995
  • To force an aircraft to track the specified path, the generation of the smooth desired trajectory is essential. In this paper, the cubic spline function is used to generate the trajectory which passes through the specified intercept points. The simulation results show that the desired trajectory generated by the spline interpolation is very smooth and the aircraft tracks it with small position errors.

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시스템 사양을 고려한 컨볼루션 기반 목표궤적 생성 방법 (Convolution-based Desired Trajectory Generation Method Considering System Specifications)

  • 이건;최영진;김진현
    • 제어로봇시스템학회논문지
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    • 제16권10호
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    • pp.997-1005
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    • 2010
  • Most motion control systems consist of a desired trajectory generator, a motion controller such as a conventional PID controller, and a plant to be controlled. The desired trajectory generator as well as the motion controller is very important to achieve a good tracking performance. Especially, if the desired trajectory is generated actively utilizing the maximum velocity, acceleration, jerk and snap as given system specifications, the tracking performance would be better. For this, we make use of the properties of convolution operator in order to generate a smooth (S-curve) trajectory satisfying the system specifications. Also, the proposed trajectory generation method is extended to more general cases with arbitrary initial and terminal conditions. In addition, the suggested trajectory generator can be easily realized for real-time implementation. Finally, the effectiveness of the suggested method is shown through numerical simulations.

푸리에 급수를 이용한 이족보행로봇의 보행 궤적 해석해 생성 (Analytic Solution for Stable Bipedal Walking Trajectory Generation Using Fourier Series)

  • 박일우;백주훈
    • 제어로봇시스템학회논문지
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    • 제15권12호
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    • pp.1216-1222
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    • 2009
  • This article describes a simple method for generating the walking trajectory for the biped humanoid robot. The method used a simple inverted model instead of complex multi-mass model and a reasonable explanation for the model simplification is included. The problem of gait trajectory generation is to find the solution from the desired ZMP trajectory to CoG trajectory. This article presents the analytic solution for the bipedal gait generation on the bases of ZMP trajectory. The presented ZMP trajectory has Fourier series form, which has finite or infinite summation of sine and cosine functions, and ZMP trajectory can be designed by calculating the coefficients. From the designed ZMP trajectory, this article focuses on how to find the CoG trajectory with analytical way from the simplified inverted pendulum model. Time segmentation based approach is adopted for generating the trajectories. The coefficients of the function should be designed to be continuous between the segments, and the solution is found by calculating the coefficients with this connectivity conditions. This article also has the proof and the condition of solution existence.

ELIPM을 이용한 이족보행로봇의 궤적생성 (Trajectory Generation for a Biped Robot Using ELIPM)

  • 박건우;최시명;박종현
    • 대한기계학회논문집A
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    • 제35권7호
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    • pp.767-772
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    • 2011
  • 궤적생성은 로봇보행의 안정성, 연속성 그리고 보행특성을 결정하는 가장 중요한 일이다. 보통 궤적생성법으로 LIPM을 많이 쓰지만 그것은 그것의 선형화 기법 때문에 수직방향으로의 동작생성을 할 수 없다는 단점이 있다. 이 논문에서는 ELIPM이라는 새로운 궤적생성법을 제안한다. 이 궤적생성법은 전진방향의 동작은 물론이고 수직방향의 동작을 간단하게 생성할 수 있다.

드론의 곡선 비행을 위한 구간별 등가속 조건의 기준 궤적 생성 방법 (A Reference Trajectory Generation Method with Piecewise Constant Acceleration Condition for the Curved Flight of a Drone)

  • 장종태;공현철;유준
    • 제어로봇시스템학회논문지
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    • 제22권3호
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    • pp.233-240
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    • 2016
  • This paper describes a three-dimensional reference trajectory generation method for giving commands to an unmanned air vehicle (UAV). The trajectory is a set of consecutive curves with constant acceleration during each interval and passing through via-points at specified times or speeds. The functional inputs are three-dimensional positions and times (or speeds) at via-points, and velocities at both boundaries. Its output is the time series of position values satisfying the piecewise constant acceleration condition. To be specific, the shape of the trajectory, known as the path, is first represented by splines using third degree polynomials. A numeric algorithm is then suggested, which can overcome the demerits of cubic spline method and promptly generate a piecewise constant acceleration trajectory from the given path. To show the effectiveness of the present scheme, trajectory generation cases were treated, and their speed calculation errors were evaluated.

2족 보행로봇을 위한 잉여 궤적 생성 (Redundancy Trajectory Generation for Biped Robot Manipulators)

  • 연제성;박종현
    • 대한기계학회:학술대회논문집
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    • 대한기계학회 2008년도 추계학술대회A
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    • pp.739-744
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    • 2008
  • Human-like biped robot is a representative multi-links manipulator and undoubted redundancy system. However many researchers separate biped robot into each limb and analyze the members individually for the convenience analysis. This approach is not desirable for natural trajectory generation and energy optimization. This paper proposes the analysis method considering both legs together and the weighted pseudoinverse optimizing energy consumption.

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차륜 이동 로봇의 모터 구동 전압 제한 조건을 고려한 코너링(cornering) 모션의 최소 시간 궤적 계획 및 제어 (Near-Minimum-Time Cornering Trajectory Planning and Control for Differential Wheeled Mobile Robots with Motor Actuation Voltage Constraint)

  • 변용진;김병국
    • 제어로봇시스템학회논문지
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    • 제18권9호
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    • pp.845-853
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    • 2012
  • We propose time-optimal cornering motion trajectory planning and control algorithms for differential wheeled mobile robot with motor actuating voltage constraint, under piecewise constant control input condition. For time-optimal cornering trajectory generation, 1) we considered mobile robot's dynamics including actuator motors, 2) divided the cornering trajectory into one liner section, followed by two cornering section with angular acceleration and deceleration, and finally one liner section, and 3) formulated an efficient trajectory generation algorithm satisfying the bang-bang control principle. Also we proposed an efficient trajectory control algorithm and implemented with an X-bot to prove the performance.

정적 장애물 회피를 위한 경로 계획: ADAM III (Path Planning for Static Obstacle Avoidance: ADAM III)

  • 최희재;송봉섭
    • 한국자동차공학회논문집
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    • 제22권3호
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    • pp.241-249
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    • 2014
  • This paper presents a path planning algorithm of an autonomous vehicle (ADAM III) for collision avoidance in the presence of multiple obstacles. Under the requirements that a low-cost GPS is used and its computation should be completed with a sampling time of sub-second, heading angle estimation is proposed to improve performance degradation of its measurement and a hierarchical structure for path planning is used. Once it is decided that obstacle avoidance is necessary, the path planning consists in three steps: waypoint generation, trajectory candidate generation, and trajectory selection. While the waypoints and the corresponding trajectory candidates are generated based on position of obstacles, the final desired trajectory is determined with considerations of kinematic constraints as well as an optimal condition in a term of lateral deviation. Finally the proposed algorithm was validated experimentally through field tests and its demonstration was performed in Autonomous Vehicle Competition (AVC) 2013.