Author:
Choi Jong-Suk,Kim Byung Kook
Abstract
Near minimum-time direct voltage control (DVC) algorithms
synthesizing path-planning and path-following are proposed for wheeled mobile robots
(WMRs) satisfying (i) initial and final postures and velocities as
well as (ii) voltage and current constraints. To overcome nonholonomic
and nonlinear properties of WMRs, we divide our control algorithm
for cornering motion into three sections: TSD (Translational Section of
Deceleration), RS (Rotational Section), and TSA (Translational Section of Acceleration).
We developed off-line DVC algorithms using the quadratic problem with
the object function minimizing the total time, where voltages to
the motors are controlled directly without velocity/torque-servo modules, while satisfying the current constraints. Two methods of searching for the two
control parameters (number of steps for RS MR and velocity
constraint in RS β) were considered: The one is composed
of one simple 1-dimensional search for β, and the other
is composed of two 1-dimensional searches for MR and β
which has better performance. Performances of the proposed control algorithms
are validated via various simulations.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Cited by
11 articles.
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