Watson, M.T. orcid.org/0000-0001-8443-4372, Gladwin, D.T. orcid.org/0000-0001-7195-5435, Prescott, T.J. et al. (1 more author) (2019) Velocity constrained trajectory generation for a collinear Mecanum wheeled robot. In: Proceedings - IEEE International Conference on Robotics and Automation (ICRA). ICRA 2019 - IEEE International Conference on Robotics and Automation, 20-24 May 2019, Montreal, QC, Canada. Institute of Electrical and Electronics Engineers (IEEE) , pp. 4444-4450. ISBN 9781538681763
Abstract
While much research has been conducted into the generation of smooth trajectories for underactuated unstable aerial vehicles such as quadrotors, less attention has been paid to the application of the same techniques to ground based omnidirectional dynamically balancing robots. These systems have more control authority over their linear accelerations than aerial vehicles, meaning trajectory smoothness is less of a critical design parameter. However, when operating in indoor environments these systems must often adhere to relatively low velocity constraints, resulting in very conservative trajectories when enforced using existing trajectory optimisation methods. This paper makes two contributions; this gap is bridged by the extension of these existing methods to create a fast velocity constrained trajectory planner, with trajectory timing characteristics derived from the optimal minimum-time solution of a simplified acceleration and velocity constrained model. Next, a differentially flat model of an omnidirectional balancing robot utilizing a collinear Mecanum drive is derived, which is used to allow an experimental prototype of this configuration to smoothly follow these velocity constrained trajectories.
Metadata
Item Type: | Proceedings Paper |
---|---|
Authors/Creators: |
|
Copyright, Publisher and Additional Information: | © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy. |
Keywords: | Trajectory; Planning; Wheels; Mobile robots; Transmission line matrix methods; Acceleration |
Dates: |
|
Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Electronic and Electrical Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 28 Aug 2019 09:17 |
Last Modified: | 12 Aug 2020 00:38 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
Refereed: | Yes |
Identification Number: | 10.1109/ICRA.2019.8794019 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:150141 |