Finding the Quickest Straight-Line Trajectory for a Three-Wheeled Omnidirectional Robot under Input Voltage Constraints
Joint Authors
Yoon, Yourim
Kim, Yong-Hyuk
Kim, Ki Bum
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-05-18
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
We provide an analytical solution to the problem of generating the quickest straight-line trajectory for a three-wheeled omnidirectional mobile robot, under the practical constraint of limited voltage.
Applying the maximum principle to the geometric properties of the input constraints, we find that an optimal input vector of motor voltages has at least one extreme value when the orientation of the robot is fixed and two extreme values when rotation is allowed.
We can find an explicit representation of the optimal vector for a motion under fixed orientation.
We derive several properties of quickest straight-line trajectories and verify them through simulation.
We show that the quickest trajectory when rotation is allowed is always faster than the quickest with fixed orientation.
American Psychological Association (APA)
Kim, Ki Bum& Kim, Yong-Hyuk& Yoon, Yourim. 2015. Finding the Quickest Straight-Line Trajectory for a Three-Wheeled Omnidirectional Robot under Input Voltage Constraints. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-11.
https://search.emarefa.net/detail/BIM-1072916
Modern Language Association (MLA)
Kim, Ki Bum…[et al.]. Finding the Quickest Straight-Line Trajectory for a Three-Wheeled Omnidirectional Robot under Input Voltage Constraints. Mathematical Problems in Engineering No. 2015 (2015), pp.1-11.
https://search.emarefa.net/detail/BIM-1072916
American Medical Association (AMA)
Kim, Ki Bum& Kim, Yong-Hyuk& Yoon, Yourim. Finding the Quickest Straight-Line Trajectory for a Three-Wheeled Omnidirectional Robot under Input Voltage Constraints. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-11.
https://search.emarefa.net/detail/BIM-1072916
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1072916