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Simultaneous translational and rotational trackin in dynamic, environments: Theoretical and practical viewpoints

Title
Simultaneous translational and rotational trackin in dynamic, environments: Theoretical and practical viewpoints
Authors
Han, YM
Ewha Authors
한영모
Issue Date
2004
Journal Title
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
ISSN
1042-296X
Citation
vol. 20, no. 2, pp. 309 - 318
Keywords
dynamic environmentsLie groupobstacle avoidanceoptimal controlproportional derivative (PD) controltrajectory tracking
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Abstract
This paper presents an algorithm for kinematic tracking of a trajectory in the presence of static and moving obstacles. The algorithm is-designed so that the physical abilities of the robot system can be considered in tracking for practical applications. For these design goals, we formulate the problem as a constrained least-squares problem subject to time-dependent state and control constraints, where the state constraints are used to describe both the obstacle constraints and the workspace constraint of the robot, and the control constraint is used to describe the speed constraint of the robot. Then we present algorithms for the two cases when the obstacle trajectories are known and unknown. In addition to this theoretical derivation of the algorithm, we also consider several practical aspects which are important in designing applications. For example, we take into consideration the necessary conditions for allowable regions of configuration space and presence of sensor noise.
DOI
10.1109/TRA.2004.824648
Appears in Collections:
엘텍공과대학 > 정보통신공학전공 > Journal papers
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