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

Published online by Cambridge University Press:  09 April 2002

Maria Prado ,
Antonio Simón  and
Francisco Ezquerro
Maria Prado
Affiliation:
Department of Mechanical Engineering, University of Málaga, Plaza El Ejido s/n, 29013 Málaga (Spain)[email protected]
Antonio Simón
Affiliation:
Department of Mechanical Engineering, University of Málaga, Plaza El Ejido s/n, 29013 Málaga (Spain)[email protected]
Francisco Ezquerro
Affiliation:
Department of Mechanical Engineering, University of Málaga, Plaza El Ejido s/n, 29013 Málaga (Spain)[email protected]
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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.

Keywords

Mobile robotsTime-optimal motion planningVelocity boundaryAcceleration boundaryDynamic robot models
Type
Research Article
Information
Robotica , Volume 20 , Issue 2 , March 2002 , pp. 181 - 193
Copyright
© 2002 Cambridge University Press

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