.png){kind=icon}
返回
Sequential Time-Optimal Path-Tracking Algorithm for Robots
.png){kind=icon}
PRE
AI
DOI：10.1109/TRO.2019.2920090.png)
.png){kind=icon}
.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
This paper focuses on minimum-time path tracking, a subproblem in motion planning of robotic systems. We generate a time-optimal velocity profile for robotic manipulators taking into account kinematic and dynamic constraints. Based on the special structure of the constraints (called peaked constraints), profile generation is formulated as a linear programming (LP) problem. The LP-based control problem is solved by a sequential optimization method. The presented algorithm has reduced computational time compared to a general LP solver.
Keyword:
Convex optimization
linear programming (LP)
path planning
path tracking
time-optimal control
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
IF:
10.5
论文数:
3.4K
被引数:
2.8W
机构
引用论文
.png){kind=icon}
分享收藏Minimum-Time Trajectory for Three-Wheeled Omnidirectional Mobile Robots Following a Bounded-Curvature Path With a Referenced Heading Profile遵循具有参考航向轮廓的有界曲率路径的三轮全向移动机器人的最小时间轨迹
PREAI
分享收藏Fuzzy-controlled Localized Route-repair (FLRR) for On-demand Routing Protocols in Mobile Ad hoc Networks移动自组织网络中按需路由协议的模糊控制本地化路由修复 (FLRR)
OAAI
OAAI分享收藏
查看更多内容