Paper Information

Journal:   JOURNAL OF MODELING IN ENGINEERING   WINTER 2017 , Volume 14 , Number 47 #L0059; Page(s) 141 To 153.
 
Paper: 

OPTIMAL TRAJECTORY PLANNING AND REPETITIVE BALANCING FOR MOBILE ROBOTS IN HIGH-SPEED MOTIONS

 
 
Author(s):  NIKOOBIN AMIN, MORADI MOJTABA
 
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Abstract: 

Dynamical stability of mobile robots becomes important and it should be discussed when there is a need of high speed motions. This problem can be solved by appropriate design of control signal with stability constraints. But, actually this is, in many cases, impossible or at least unbearable. In this paper, we have noticed balancing approach for this problem to significant reduction of control effort. Based on fixed-point approach the values of counterweights are computed and finally this iterative method drives the mobile robot through a stable trajectory. This novel method is called iterative balancing of mobile robots and final stable trajectory has very low pay-off in compare of unbalanced constrained one. The results are investigated by simulating of open loop control of mobile robot.

 
Keyword(s): TRAJECTORY PLANNING, MOBILE ROBOT, BALANCING, OPTIMAL CONTROL, DYNAMICAL STABILITY
 
References: 
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