모터 제어 입력 제한 조건이 고려된 차륜 이동 로봇을 위한 효율적인 최소 시간 코너링(Cornering) 주행 계획

Abstract

We propose an efficient minimum-time cornering motion planning algorithms for differential-driven wheeled mobile robots with motor control input constraint, under piecewise constant control input sections. First, we established mobile robot’s kinematics and dynamics including motors, divided the cornering trajectory for collision-free into one translational section, followed by one rotational section with angular acceleration, and finally the other rotational section with angular deceleration. We constructed an efficient motion planning algorithm satisfying the bang-bang principle. Various simulations and experiments reveal the performance of the proposed algorithm.