Evaluation and Time-Scaling of Trajectories for Wheeled Mobile Robots

Author:

Graettinger T. J.1,Krogh B. H.1

Affiliation:

1. Department of Electrical and Computer Engineering, Carnegie Mellon University, Pittsburgh, PA 15213

Abstract

A method is presented for evaluating the feasibility of trajectories generated by path-planning systems for wheeled mobile robots (WMRs). Constraints that limit the class of executable trajectories for a given WMR are classified as path constraints, kinematic constraints, and dynamic constraints. Path constraints, which are limits on the path geometry, are a function of the wheelbase configuration and steering mechanism. Limits that involve only functions of velocities and accelerations are termed kinematic constraints. Dynamic constraints refer to limits on force/torque inputs and frictional force constraints which must be satisfied for a trajectory to be feasible. We show that when path constraints are violated the path must be modified to achieve feasibility, while violations of kinematic and dynamic constraints can be eliminated by time scaling so that the same path is followed at a slower speed. The concepts are developed and illustrated in the context of a model for the dynamics of conventionally steered vehicle.

Publisher

ASME International

Subject

Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering

Cited by 17 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Energy constrained trajectory generation for ADAS;2010 IEEE Intelligent Vehicles Symposium;2010-06

2. A random-profile approach for trajectory planning of wheeled mobile robots;European Journal of Mechanics - A/Solids;2007-05

3. An integrated path-planning and control approach for nonholonomic unicycles using switched local potentials;IEEE Transactions on Robotics;2005-12

4. Autonomous mobile robot model predictive control;International Journal of Control;2004-11-10

5. Path following with reduced off-tracking for multibody wheeled vehicles;IEEE Transactions on Control Systems Technology;2003-07

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