Velocity, acceleration and deceleration bounds for a time-optimal planner of a wheeled mobile robot

Authors:
Maria Prado;Antonio Simón;Francisco Ezquerro
Affiliations:
Department of Mechanical Engineering, University of Málaga, Plaza El Ejido s/n, 29013 Málaga (Spain) mpn@uma.es;Department of Mechanical Engineering, University of Málaga, Plaza El Ejido s/n, 29013 Málaga (Spain) mpn@uma.es;Department of Mechanical Engineering, University of Málaga, Plaza El Ejido s/n, 29013 Málaga (Spain) mpn@uma.es
Venue:
Robotica
Year:
2002

Citing 4
Cited 2

Toward efficient trajectory planning: the path-velocity decomposition

International Journal of Robotics Research
Approximation Algorithms for Curvature-Constrained Shortest Paths

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A Smooth Path Tracking Algorithm for Wheeled Mobile Robots with Dynamic Constraints

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Navigation of mobile robots: open questions

Robotica

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Abstract

Three single-valued upper boundary functions for velocity, acceleration and deceleration of a wheeled mobile robot (WMR) are defined as closed mathematical forms over its entire spatial path. The limits deal with mechanical, kinematic and dynamic characteristics of the robot and with task and operating matters. These boundary functions can be computed making use of any robot model, as complex as is needed, since it works offline.All studies are particularised for the robot RAM. A kinematic and a complete dynamic model of this WMR is built, with special attention on the study of wheel-ground contact efforts. For this purpose an empirical-analytical model of rubber wheel rolling is developed.