지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2013.6
- 수록면
- 540 - 546 (7page)
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초록· 키워드
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This paper presents a trajectory planning algorithm for TMR (Two-wheeled Mobile Robots). The trajectory is developed in joint space and considers the physical limits of a TMR. First, we present a process for generating a smooth curve through a Bezier curve. The trajectory for the center of the TMR following the Bezier curve is developed through a convolution operator taking into consideration its physical limits. The trajectory along the Bezier curve is regenerated using time-dependent parameters which correspond to the distance driven by the velocity of the center of the TMR in a sampling time. The velocity commands in the Cartesian space are converted to actuator commands for two wheels. In case that the actuator commands exceed the maximum velocity, the trajectory is redeveloped with compensated center velocity. We also suggest a smooth trajectory planning algorithm in joint space for the two segmented paths. Finally, the effectiveness of the algorithm is shown through numerical examples and application to a simulator.
목차
Abstract
I. 서론
II. 속도 제한을 고려한 콘볼루션 기반 궤적 생성 방법
III. 베지어 곡선을 활용한 로봇 방향 추적 궤적 생성
IV. 베지어 곡선과 중심속도 궤적의 합성 방법
V. 조인트 스페이스에서 두 바퀴 속도 명령 생성 방법
VI. 조인트 스페이스에서의 시스템 사양을 고려한 속도 명령 생성방법
VII. 결론
REFERENCES
참고문헌 (11)
참고문헌 신청
1. [단행본] - J. J. Craig / 2004 / Introduction to Robotics: Mechanics and Control / Pearson Education
3. [학술대회논문] - G. Lee / 2012 / Faster and smoother trajectory generation considering physical system limits under discontinuously assigned target angles / IEEE International Conference on Mechatronics and Automation : 1196 ~ 1201
4. [학위논문] - G. Lee / 2010 / Development of trajectory generation method using digital convolution and its robotic application to obstacle avoidance / Master / Hanyang University
5. [학술대회논문] - M. Brezak / 2011 / Time-optimal trajectory planning along predefined path for mobile robots with velocity and acceleration constraints / IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics : 942 ~ 947
6. [학술지(정기간행물)] - M. Lepetic / 2003 / Time optimal path planning considering acceleration limits / Robotics and Automation Systems 45 : 192 ~ 210
3. [학술대회논문] - G. Lee / 2012 / Faster and smoother trajectory generation considering physical system limits under discontinuously assigned target angles / IEEE International Conference on Mechatronics and Automation : 1196 ~ 1201
4. [학위논문] - G. Lee / 2010 / Development of trajectory generation method using digital convolution and its robotic application to obstacle avoidance / Master / Hanyang University
5. [학술대회논문] - M. Brezak / 2011 / Time-optimal trajectory planning along predefined path for mobile robots with velocity and acceleration constraints / IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics : 942 ~ 947
6. [학술지(정기간행물)] - M. Lepetic / 2003 / Time optimal path planning considering acceleration limits / Robotics and Automation Systems 45 : 192 ~ 210
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