New Approach for Mobile Robot Path Planning

Feng Yun Lin

doi:10.4028/www.scientific.net/AMM.467.475

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 467New Approach for Mobile Robot Path Planning

New Approach for Mobile Robot Path Planning

Abstract:

This paper presents a method of time optimal path planning under kinematic, limit heat characteristics of DC motor and dynamic constrain for a 2-DOF wheeled. Firstly the shortest path is planned by using the geometric method under kinematic constraints. Then, in order to make full use of motors capacity we have the torque limits under limit heat characteristics of DC motor, finally the velocity limit and the boundary acceleration (deceleration) are determined to generate a time optimal path.

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Periodical:

Applied Mechanics and Materials (Volume 467)

Pages:

475-478

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.467.475

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Online since:

December 2013

Authors:

Feng Yun Lin*

Keywords:

Kinematics Constraints, Trajectory Planning, Wheeled Mobile Robot

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