Time-optimal velocity planning along predefined path for static formations of mobile robots
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- 作者：Toni Petrinić ; Mišel Brezak ; Ivan Petrović
- 关键词：Differential drive mobile robot ; mobile robot formations ; tip over and wheel slip prevention ; trajectory planning ; velocity and acceleration constraints
- 刊名：International Journal of Control, Automation and Systems
- 出版年：2017
- 出版时间：February 2017
- 年：2017
- 卷：15
- 期：1
- 页码：293-302
- 全文大小：
- 刊物类别：Engineering
- 刊物主题：Control, Robotics, Mechatronics;
- 出版者：Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers
- ISSN：2005-4092
- 卷排序：15
文摘
This paper is concerned with the problem of finding a time-optimal velocity profile along the predefined path for static formations of mobile robots in order to traverse the path in shortest time and to satisfy, for each mobile robot in the formation, velocity, acceleration, tip over and wheel slip prevention constraints. Time-optimal velocity planning is achieved using so called bang-bang control where minimum and maximum accelerations of the formation are alternating. The developed trajectory planning algorithm is demonstrated on the formation of differential drive mobile robots.