Design and Experimental Verification of Two-Dimensional Rate Limiters in Trajectory Generation for Differential Drive Robots
| Autor: | Oliver Sawodny, Anja Patricia Regina Lauer, Naoki Uchiyama |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Computer science 020208 electrical & electronic engineering Mobile robot 02 engineering and technology Acceleration 020901 industrial engineering & automation Exponential stability Control and Systems Engineering Control theory Path (graph theory) 0202 electrical engineering electronic engineering information engineering Trajectory Limiter Robot |
| Zdroj: | IFAC-PapersOnLine. 53:9664-9669 |
| ISSN: | 2405-8963 |
| DOI: | 10.1016/j.ifacol.2020.12.2614 |
| Popis: | In order for robots to follow a desired path, velocity trajectories along the path are required. Two-dimensional rate limiters generate smooth velocity trajectories for differential drive mobile robots. First-order two-dimensional rate limiters satisfy the velocity constraints of the right and left wheel, while second-order two-dimensional rate limiters fulfill both velocity and acceleration constraints. This paper proves the global asymptotic stability of first-order two-dimensional rate limiters. It further shows the feasibility of second-order two-dimensional rate limiters by evaluating their performance through experiments with different sample paths and by comparison with a turn-on-the-spot solution. |
| Databáze: | OpenAIRE |
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