TY - JOUR
A2 - Moreno-Valenzuela, Javier
AU - Kim, Ki Bum
AU - Kim, Yong-Hyuk
AU - Yoon, Yourim
PY - 2015
DA - 2015/05/18
TI - Finding the Quickest Straight-Line Trajectory for a Three-Wheeled Omnidirectional Robot under Input Voltage Constraints
SP - 105357
VL - 2015
AB - We provide an analytical solution to the problem of generating the quickest straight-line trajectory for a three-wheeled omnidirectional mobile robot, under the practical constraint of limited voltage. Applying the maximum principle to the geometric properties of the input constraints, we find that an optimal input vector of motor voltages has at least one extreme value when the orientation of the robot is fixed and two extreme values when rotation is allowed. We can find an explicit representation of the optimal vector for a motion under fixed orientation. We derive several properties of quickest straight-line trajectories and verify them through simulation. We show that the quickest trajectory when rotation is allowed is always faster than the quickest with fixed orientation.
SN - 1024-123X
UR - https://doi.org/10.1155/2015/105357
DO - 10.1155/2015/105357
JF - Mathematical Problems in Engineering
PB - Hindawi Publishing Corporation
KW -
ER -