DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Hongjun | ko |
dc.contributor.author | Kim, Byung Kook | ko |
dc.date.accessioned | 2014-09-04T08:24:23Z | - |
dc.date.available | 2014-09-04T08:24:23Z | - |
dc.date.created | 2014-08-04 | - |
dc.date.created | 2014-08-04 | - |
dc.date.issued | 2014-08 | - |
dc.identifier.citation | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, v.75, no.2, pp.205 - 221 | - |
dc.identifier.issn | 0921-0296 | - |
dc.identifier.uri | http://hdl.handle.net/10203/189968 | - |
dc.description.abstract | The minimum-energy trajectory generation problem of cornering with a fixed heading is solved for three-wheeled omni-directional mobile robots (TOMRs). To maximize the total operation time of a mobile robot with carried batteries having finite energy, we have chosen a practical cost function to be the total energy drawn from the batteries. Then, we formulate the minimum-energy trajectory generation problem of executing a cornering motion with a fixed heading for TOMRs with given dynamics including actuator motors. The optimal control theory using a Hamiltonian function and a numerical method are used to obtain the minimum-energy trajectory, which gives the velocity profile in analytic form. Performance analyses are conducted with various simulations and the consumed energy using obtained minimum-energy trajectory is compared with a typical conventional trajectory with a trapezoidal velocity profile, which reveals that an energy savings of up to 18.7 % is achieved. To validate the actual performance of our trajectory, we implemented and tested an accurate trajectory following system which utilizes a resolved acceleration controller. | - |
dc.language | English | - |
dc.publisher | SPRINGER | - |
dc.subject | SERVICE ROBOTS | - |
dc.subject | DC DRIVES | - |
dc.subject | MINIMIZATION | - |
dc.subject | PLATFORM | - |
dc.subject | VELOCITY | - |
dc.subject | PATH | - |
dc.title | Minimum-Energy Trajectory Generation for Cornering with a Fixed Heading for Three-Wheeled Omni-Directional Mobile Robots | - |
dc.type | Article | - |
dc.identifier.wosid | 000338347900004 | - |
dc.identifier.scopusid | 2-s2.0-84905590233 | - |
dc.type.rims | ART | - |
dc.citation.volume | 75 | - |
dc.citation.issue | 2 | - |
dc.citation.beginningpage | 205 | - |
dc.citation.endingpage | 221 | - |
dc.citation.publicationname | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | - |
dc.identifier.doi | 10.1007/s10846-013-9855-1 | - |
dc.contributor.localauthor | Kim, Byung Kook | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | DC motor actuators | - |
dc.subject.keywordAuthor | Omni-directional mobile robots | - |
dc.subject.keywordAuthor | Minimum-energy control | - |
dc.subject.keywordAuthor | Optimal control | - |
dc.subject.keywordPlus | SERVICE ROBOTS | - |
dc.subject.keywordPlus | DC DRIVES | - |
dc.subject.keywordPlus | MINIMIZATION | - |
dc.subject.keywordPlus | PLATFORM | - |
dc.subject.keywordPlus | VELOCITY | - |
dc.subject.keywordPlus | PATH | - |
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