Minimum-energy Cornering Trajectory Planning with Self-rotation for Three-wheeled Omni-directional Mobile Robots

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dc.contributor.authorKim, Hongjunko
dc.contributor.authorKim, Byung Kookko
dc.date.accessioned2017-08-23T06:38:57Z-
dc.date.available2017-08-23T06:38:57Z-
dc.date.created2017-08-21-
dc.date.created2017-08-21-
dc.date.issued2017-08-
dc.identifier.citationINTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, v.15, no.4, pp.1857 - 1866-
dc.identifier.issn1598-6446-
dc.identifier.urihttp://hdl.handle.net/10203/225472-
dc.description.abstractA minimum-energy cornering trajectory planning with self-rotation algorithm is investigated for three wheeled omni-directional mobile robots (TOMRs). First, an generalized minimum-energy point-to-point trajectory planning algorithm is studied, which is obtained using Pontryagin's minimum principle, a practical cost function as. the energy drawn from the batteries to motors, and the accurate TOMR dynamic model including actuator dynamics and the Coriolis force. By analyzing the co-state equation, the minimum-energy rotational velocity trajectory is. presented in analytic form. Also a novel algorithm for the minimum-energy translational velocity trajectory is investigated. Second, the minimum-energy cornering trajectory planning algorithm with self-rotation is developed. Simulation results show that the minimum-energy cornering trajectory can save energy up to 15.20 % compared with the conventional control using trapezoidal velocity profiles, and up to 3.96 % compared with the loss-minimization control using the armature loss as the cost function. Also a resolved-acceleration controller is implemented to show an actual performance.-
dc.languageEnglish-
dc.publisherINST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS-
dc.subjectCONSTRAINTS-
dc.subjectTARGET-
dc.titleMinimum-energy Cornering Trajectory Planning with Self-rotation for Three-wheeled Omni-directional Mobile Robots-
dc.typeArticle-
dc.identifier.wosid000406822800040-
dc.identifier.scopusid2-s2.0-85025123546-
dc.type.rimsART-
dc.citation.volume15-
dc.citation.issue4-
dc.citation.beginningpage1857-
dc.citation.endingpage1866-
dc.citation.publicationnameINTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS-
dc.identifier.doi10.1007/s12555-016-0111-x-
dc.contributor.localauthorKim, Byung Kook-
dc.contributor.nonIdAuthorKim, Hongjun-
dc.description.isOpenAccessN-
dc.type.journalArticleArticle-
dc.subject.keywordAuthorDC motors-
dc.subject.keywordAuthorminimum-energy control-
dc.subject.keywordAuthoromni-directional mobile robots-
dc.subject.keywordAuthoroptimal control-
dc.subject.keywordPlusCONSTRAINTS-
dc.subject.keywordPlusTARGET-
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