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언덕지형을 지나는 차륜 이동 로봇을 위한 직선구간에서의 최소 시간 경로 계획에 대한 연구
김재성,김병국 제어로봇시스템학회 2009 제어로봇시스템학회 국내학술대회 논문집 Vol.2009 No.9
We solved the time-optimal transitional trajectory problem on hilly terrain for differential-driven wheeled mobile robots(WMRs) with input voltage constraint. The dynamics of mobile robot on hilly terrain is introduced to the extent of a detailed motor parameter including wheel’s dynamics and reactive torques with terrain information. After establishing the dynamic equations of differential-driven WMRs on hilly terrain, bang-bang control in optimal theory is used to solve the minimum-time trajectory problem with input voltage constraint. Also, based on the optimal condition and boundary conditions, we construct a voltage input profile. Finally, verification of the proposed time-optimal trajectory is shown through simulation studies.