Trajectory Planning With Lamé-Curve Blending for Motor-Saturation Avoidance Upon Mobile-Robot Turning

Trajectory Planning With Lamé-Curve Blending for Motor-Saturation Avoidance Upon Mobile-Robot Turning

In order to avoid motor saturation in turning maneuvers, an iterative Lamé-trajectory planning scheme is proposed to generate a smooth curvature-bounded transition trajectory for a differential-driving wheeled mobile robot (DWMR) switching from one straight path to another. The scheme co...

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Bibliographic Details
Main Authors: Xing Wu, Jorge Angeles, Ting Zou, Junjie Yang, Hongkai Li, Wei Li
Format: Article
Language:English
Published: IEEE 2020-01-01
Series:IEEE Access
Subjects:
Mobile robot
trajectory planning
curve blending
torque computation
motor saturation
Online Access:https://ieeexplore.ieee.org/document/9044866/

Internet

https://ieeexplore.ieee.org/document/9044866/

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