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College of Engineering(공과대학)School of Electrical Engineering(전기및전자공학부)EE-Journal Papers(저널논문)

Energy-optimal transport trajectory planning and online trajectory modification for holonomic robots

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dc.contributor.authorKim, Hongjunko
dc.contributor.authorKim, Byung Kookko
dc.date.accessioned2021-10-11T05:50:11Z-
dc.date.available2021-10-11T05:50:11Z-
dc.date.created2020-10-26-
dc.date.created2020-10-26-
dc.date.created2020-10-26-
dc.date.issued2021-09-
dc.identifier.citationASIAN JOURNAL OF CONTROL, v.23, no.5, pp.2185 - 2200-
dc.identifier.issn1561-8625-
dc.identifier.urihttp://hdl.handle.net/10203/288156-
dc.description.abstractTo maximize energy efficiency, we suggest minimum-energy trajectory planning and online trajectory modification algorithms for three-wheeled omni-directional mobile robots (TOMRs). First, minimum-energy multisection trajectory planning for various constraints is performed using Pontryagin's minimum principle. Two strategies are established to formulate an efficient minimum-energy, multisection trajectory generation algorithm: an online trajectory modification and a control algorithm that maintains energy efficiency are investigated using novel heuristic functions. Compared with the conventional trajectory using the trapezoidal velocity profile, the generated transport trajectory can save energy.-
dc.languageEnglish-
dc.publisherWILEY-
dc.titleEnergy-optimal transport trajectory planning and online trajectory modification for holonomic robots-
dc.typeArticle-
dc.identifier.wosid000576662500001-
dc.identifier.scopusid2-s2.0-85092277360-
dc.type.rimsART-
dc.citation.volume23-
dc.citation.issue5-
dc.citation.beginningpage2185-
dc.citation.endingpage2200-
dc.citation.publicationnameASIAN JOURNAL OF CONTROL-
dc.identifier.doi10.1002/asjc.2449-
dc.embargo.liftdate9999-12-31-
dc.embargo.terms9999-12-31-
dc.contributor.localauthorKim, Byung Kook-
dc.contributor.nonIdAuthorKim, Hongjun-
dc.description.isOpenAccessN-
dc.type.journalArticleArticle-
dc.subject.keywordAuthorminimum-energy trajectory-
dc.subject.keywordAuthormobile robots-
dc.subject.keywordAuthoroptimal control-
dc.subject.keywordAuthoroptimal trajectory-
dc.subject.keywordAuthortrajectory planning-
dc.subject.keywordPlusSLIDING MODE CONTROL-
dc.subject.keywordPlusPREDICTIVE CONTROL-
dc.subject.keywordPlusMOBILE-
dc.subject.keywordPlusIMPLEMENTATION-
dc.subject.keywordPlusTRACKING-
dc.subject.keywordPlusSYSTEMS-
dc.subject.keywordPlusDESIGN-
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EE-Journal Papers(저널논문)
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