Time-optimal cornering trajectory planning for car-like mobile robots containing actuator dynamics

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We establish a highly feasible algorithm for time-optimal cornering trajectory planning (TP) for car-like mobile robots (CLMRs) based on a dynamic model that contains actuator dynamics. First, we formulate an accurate dynamic model of a robot that contains DC motor actuators; this includes steering braking (caused by the lateral force of the front steering wheel) and two types of friction (viscous and Coulomb) under a nonslip condition. Our TP algorithm can utilize the full power of the DC motor actuators within proper pulse width modulation bounds and generated torque limits. Then, we establish an algorithm for a time-optimal cornering trajectory planning for CLMRs (TOCTP-CLMR). Our algorithm divides the trajectory into five sections comprising three turnings and two translations to minimize the travel distance. Then, we utilize the quickest rotation when turning to construct the time-optimal trajectory that satisfies the bang-bang principle. In addition, simulations are performed to demonstrate the validity of this method. Finally, we conduct open-loop experiments to validate our dynamic model and a trajectory tracking experiment to demonstrate the feasibility of the TOCTP-CLMR trajectory.
Publisher
CAMBRIDGE UNIV PRESS
Issue Date
2022-05
Language
English
Article Type
Article
Citation

ROBOTICA, v.40, no.5, pp.1627 - 1649

ISSN
0263-5747
DOI
10.1017/S0263574721001296
URI
http://hdl.handle.net/10203/296447
Appears in Collection
EE-Journal Papers(저널논문)
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