دورية أكاديمية
A Motion Planning Method for Omnidirectional Mobile Robot Based on the Anisotropic Characteristics
| العنوان: | A Motion Planning Method for Omnidirectional Mobile Robot Based on the Anisotropic Characteristics |
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| المؤلفون: | Chuntao Leng, Qixin Cao, Yanwen Huang |
| المصدر: | International Journal of Advanced Robotic Systems, Vol 5 (2008) |
| بيانات النشر: | SAGE Publishing, 2008. |
| سنة النشر: | 2008 |
| المجموعة: | LCC:Electronics LCC:Electronic computers. Computer science |
| مصطلحات موضوعية: | Electronics, TK7800-8360, Electronic computers. Computer science, QA75.5-76.95 |
| الوصف: | A more suitable motion planning method for an omni-directional mobile robot (OMR), an improved APF method (iAPF), is proposed in this paper by introducing the revolving factor into the artificial potential field (APF). Accordingly, the motion direction derived from traditional artificial potential field (tAPF) is regulated. The maximum velocity, maximum acceleration and energy consumption of the OMR moving in different directions are analyzed, based on the kinematic and dynamic constraints of an OMR, and the anisotropy of OMR is presented in this paper. Then the novel concept of an Anisotropic-Function is proposed to indicate the quality of motion in different directions, which can make a very favorable trade-off between time-optimality, stability and efficacy-optimality. In order to obtain the optimal motion, the path that the robot can take in order to avoid the obstacle safely and reach the goal in a shorter path is deduced. Finally, simulations and experiments are carried out to demonstrate that the motion resulting from the iAPF is high-speed, highly stable and highly efficient when compared to the tAPF. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 1729-8814 |
| Relation: | https://doaj.org/toc/1729-8814 |
| DOI: | 10.5772/6228 |
| URL الوصول: | https://doaj.org/article/eb65a1f8c9e84bf88b3f65e66e1461d4 |
| رقم الأكسشن: | edsdoj.b65a1f8c9e84bf88b3f65e66e1461d4 |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 17298814 |
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| DOI: | 10.5772/6228 |