Real-time trajectory generation for omnidirectional vehicles

Kalmár-Nagy, T [Kalmár-Nagy, Tamás (Áramlástan, Elmél...), szerző] Áramlástan Tanszék (BME / GPK); Ganguly, P; D'Andrea, R

Angol nyelvű Tudományos Konferenciaközlemény (Könyvrészlet)
    We discuss a method of generating near-optimal trajectories for a robot with omnidirectional drive capabilities, taking the second-order dynamics of the vehicle into account. The relaxation of optimality results in immense computational savings, critical in dynamic environments. In particular, a decoupling strategy for each of the three degrees of freedom of the vehicle is presented, along with a method for coordinating the degrees of freedom. A nearly optimal trajectory for the vehicle can typically be calculated in less than 1000 floating point operations, which makes it attractive for real-time control in dynamic and uncertain environments.
    Hivatkozás stílusok: IEEEACMAPAChicagoHarvardCSLMásolásNyomtatás
    2021-10-26 07:20