期刊文献+

Optimal trajectory planning based on Hamiltonian function of a spherical mobile robot 被引量:2

Optimal trajectory planning based on Hamiltonian function of a spherical mobile robot
下载PDF
导出
摘要 Designed for planetary exploration,a spherical mobile robot BHQ-1 was briefly introduced.The mo-tion model of BHQ-1 was established and quasi-velocities were introduced to simplify some dynamic quan-tities.Based on the model,the time- and energy-based optimal trajectory of BHQ-1 was planned withHamiltonian function. The effects of three key coefficients on the shape and direction of the planned tra-jectory were discussed by simulations.Experimental result of the robot ability in avoiding an obstacle waspresented to validate the trajectory planning method. Designed for planetary exploration, a spherical mobile robot BHQ-1 was briefly introduced. The motion model of BHQ-1 was established and quasi-velocities were introduced to simplify some dynamic quantities. Based on the model, the time- and energy-based optimal trajectory of BHQ-1 was planned with Hamiltonian function. The effects of three key coefficients on the shape and direction of the planned trajectory were discussed by simulations. Experimental result of the robot ability in avoiding an obstacle was presented to validate the trajectory planning method.
作者 陈明
机构地区 Robotics Institute
出处 《High Technology Letters》 EI CAS 2008年第3期289-293,共5页 高技术通讯(英文版)
基金 the National Natural Science Foundation of China(No.50705003) the National High Technology Research and Development Programme of China(No.2007AA04Z252)
关键词 spherical mobile robot trajectory planning Hamiltonian function 球形移动机器人 轨道设计 哈密尔敦函数 机器人技术
  • 相关文献

参考文献4

二级参考文献24

  • 1肖爱平,孙汉旭,谭月胜,马国伟,赵勇.一种球形机器人运动轨迹规划与控制[J].机器人,2004,26(5):444-447. 被引量:24
  • 2Halme A, Schonberg T, Wang Y. Motion control of a spherical mobile robot.In: 4th IEEE International Workshop on Advanced Motion Control AMC'96, Mie University, Japan, 1996:100-106.
  • 3Michaud F, Caron S. Roball: the rolling robot. Autonomous Robots, 2002,12(2): 211-222.
  • 4Bicchi A, Balluch A, Prattichizzo D, et al. Introducing the "SPHERICLE":an experimental testbed for research and teaching in nonholonomy. In:Proceedings of the 1997 IEEE Int. Conf. on Robotics and Automation,Albuquerque, New Mexico, 1995:2 620-2 625.
  • 5Javadi A It, Mojabi A P. Introducing august: a novel strategy for an omnidirectional spherical Rolling Robot. In: Proc. IEEE Int. Conference on Robotics and Automation, Washinzton, 2002:3 527-3 533.
  • 6Zhan Q. A novel moving mechanism for moon exploring vehicles. In:Proceedings of the 2rid Workshop on Moon Exploring Technology, Beijing,2001:328-330 (In Chinese).
  • 7[1]Aame Halme,Jussi Suonela,Torsten Schonberg and Yan Wang.Motion Control of a Spherical Mobile Robot.4th IEEE Intemational Workshop on Advanced Motion Control AMC96,Mie University,Japan 1996.
  • 8[2]A.Bicchi,A.Balluchi,D.Prattichizzo,and A.Gorelli.Introducing the spherical:An experimental testbed for research and teachng in nonholonomy.In Proc.IEEE Int.Conf.on Robotics and Automtion,1997.
  • 9[3]L.Ferriere,B.Raucent and G..Campion.Design of omnimobile robot wheels.In Proc.IEEE Int.Conf.on Robotics andAutomation,pp.3664-3670,1996.
  • 10[4]S.Bhattacharya,and S.K.Agrawal.Spherical rolling robot:a design and motion planning studies.In Proc.IEEE Iht.Conf.on Robotics and Automation,2000.

共引文献56

同被引文献23

引证文献2

二级引证文献40

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部