کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413341 680420 2006 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Trajectory generation and control for four wheeled omnidirectional vehicles
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Trajectory generation and control for four wheeled omnidirectional vehicles
چکیده انگلیسی

This paper describes an algorithm to calculate near-optimal minimum time trajectories for four wheeled omnidirectional vehicles, which can be used as part of a high-level path planner. The algorithm is based on a relaxed optimal control problem. It takes limited friction and vehicle dynamics into account, as encountered in high-performance omnidirectional vehicles. The low computational complexity makes the application in real-time feasible. An implementation of the algorithm on a real vehicle is presented and discussed.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 54, Issue 1, 31 January 2006, Pages 13–22
نویسندگان
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