OPTIMAL TRAJECTORY PLANNING AND REPETITIVE BALANCING FOR MOBILE ROBOTS IN HIGH-SPEED MOTIONS

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NIKOOBIN AMIN; MORADI MOJTABA

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Journal: Modeling in Engineering Year:2017 | Volume:14 | Issue:47 Page(s): 141-153

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Information Journal Paper

Title

OPTIMAL TRAJECTORY PLANNING AND REPETITIVE BALANCING FOR MOBILE ROBOTS IN HIGH-SPEED MOTIONS

Author(s)

NIKOOBIN AMIN | MORADI MOJTABA | Issue Writer Certificate

Keywords

TRAJECTORY PLANNINGQ2

MOBILE ROBOTQ2

BALANCINGQ2

OPTIMAL CONTROLQ2

DYNAMICAL STABILITYQ2

Abstract

Dynamical stability of MOBILE ROBOTs becomes important and it should be discussed when there is a need of high speed motions. This problem can be solved by appropriate design of control signal with stability constraints. But, actually this is, in many cases, impossible or at least unbearable. In this paper, we have noticed BALANCING approach for this problem to significant reduction of control effort. Based on fixed-point approach the values of counterweights are computed and finally this iterative method drives the MOBILE ROBOT through a stable trajectory. This novel method is called iterative BALANCING of MOBILE ROBOTs and final stable trajectory has very low pay-off in compare of unbalanced constrained one. The results are investigated by simulating of open loop control of MOBILE ROBOT.

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APA: Copy

NIKOOBIN, AMIN, & MORADI, MOJTABA. (2017). OPTIMAL TRAJECTORY PLANNING AND REPETITIVE BALANCING FOR MOBILE ROBOTS IN HIGH-SPEED MOTIONS. JOURNAL OF MODELING IN ENGINEERING, 14(47 ), 141-153. SID. https://sid.ir/paper/173798/en

Vancouver: Copy

NIKOOBIN AMIN, MORADI MOJTABA. OPTIMAL TRAJECTORY PLANNING AND REPETITIVE BALANCING FOR MOBILE ROBOTS IN HIGH-SPEED MOTIONS. JOURNAL OF MODELING IN ENGINEERING[Internet]. 2017;14(47 ):141-153. Available from: https://sid.ir/paper/173798/en

IEEE: Copy

AMIN NIKOOBIN, and MOJTABA MORADI, “OPTIMAL TRAJECTORY PLANNING AND REPETITIVE BALANCING FOR MOBILE ROBOTS IN HIGH-SPEED MOTIONS,” JOURNAL OF MODELING IN ENGINEERING, vol. 14, no. 47 , pp. 141–153, 2017, [Online]. Available: https://sid.ir/paper/173798/en

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