Influence of the Friction Coefficient on the Trajectory Performance for a Car-Like Robot
Joint Authors
Rubio, Francisco
Llopis-Albert, Carlos
Valero, Francisco
Cuadrado, Juan Ignacio
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-06-22
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
A collision-free trajectory planner for a car-like mobile robot moving in complex environments is introduced and the influence of the coefficient of friction on important working parameters is analyzed.
The proposed planner takes into account not only the dynamic capabilities of the robot but also the behaviour of the tire.
This planner is based on sequential quadratic programming algorithms and the normalized time method.
Different values for the coefficient of friction have been taken following a normal Gaussian distribution to see its influence on the working parameters.
The algorithm has been applied to several examples and the results show that computation times are compatible with real-time work, so the authors call them efficient generated trajectories as they avoid collisions.
Besides, working parameters such as the minimum trajectory time, the maximum vehicle speed, computational time, and consumed energy have been monitored and some conclusions have been reached.
American Psychological Association (APA)
Valero, Francisco& Rubio, Francisco& Llopis-Albert, Carlos& Cuadrado, Juan Ignacio. 2017. Influence of the Friction Coefficient on the Trajectory Performance for a Car-Like Robot. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-9.
https://search.emarefa.net/detail/BIM-1190434
Modern Language Association (MLA)
Valero, Francisco…[et al.]. Influence of the Friction Coefficient on the Trajectory Performance for a Car-Like Robot. Mathematical Problems in Engineering No. 2017 (2017), pp.1-9.
https://search.emarefa.net/detail/BIM-1190434
American Medical Association (AMA)
Valero, Francisco& Rubio, Francisco& Llopis-Albert, Carlos& Cuadrado, Juan Ignacio. Influence of the Friction Coefficient on the Trajectory Performance for a Car-Like Robot. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-9.
https://search.emarefa.net/detail/BIM-1190434
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1190434