Online minimum-energy trajectory planning and control on a straight-line path for three-wheeled omnidirectional mobile robots

IEEE Transactions on Industrial Electronics

Volumn 61, Issue 9, 2014, Pages 4771-4779

  Kim, Hongjun ^a   Kim, Byung Kook ^a  

^a Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

Author keywords

DC motors; Minimum energy control; Omnidirectional mobile robots; Optimal control

Indexed keywords

ALGORITHMS; CONTROL SYSTEMS; DC MOTORS; MOBILE ROBOTS; TRACKING (POSITION); TRAJECTORIES; VELOCITY;

MINIMUM ENERGY; OMNIDIRECTIONAL MOBILE ROBOT; ONLINE TRAJECTORY PLANNING; OPTIMAL CONTROLS; PONTRYAGIN'S MINIMUM PRINCIPLES; TRAJECTORY CONTROL SYSTEMS; TRANSLATIONAL VELOCITY; TRAPEZOIDAL VELOCITY PROFILE;

ENERGY EFFICIENCY;

EID: 84897454559     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2013.2293706     Document Type: Article

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