Time optimal trajectory generation of differentially driven mobile robot

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26220%2F06%3APU55095" target="_blank" >RIV/00216305:26220/06:PU55095 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
čeština
Original language name
Generování časově optimální trajektorie pro mobilního robota s diferenciálním řízením
Original language description
This paper deals with near time-optimal path planning of differentially driven mobile robot in environments without obstacles. Well-known kinematic model and our dynamic model are presented. Acceleration constraints which satisfy non-skid movement of therobot are derived from our dynamic model. Our approach uses spline curves to describe the path and the problem is solved numerically in a way that the robot spends lowest time on the path.
Czech name
Generování časově optimální trajektorie pro mobilního robota s diferenciálním řízením
Czech description
This paper deals with near time-optimal path planning of differentially driven mobile robot in environments without obstacles. Well-known kinematic model and our dynamic model are presented. Acceleration constraints which satisfy non-skid movement of therobot are derived from our dynamic model. Our approach uses spline curves to describe the path and the problem is solved numerically in a way that the robot spends lowest time on the path.

Type
J<sub>x</sub> - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)
CEP classification
BC - Theory and management systems
OECD FORD branch
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Project
<a href="/en/project/1M0567" target="_blank" >1M0567: Centre for Applied Cybernetics</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2006
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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