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Statements

Subject Item
n2:RIV%2F00216305%3A26220%2F06%3APU55095%21RIV07-MSM-26220___
rdf:type
skos:Concept n16:Vysledek
dcterms:description
This paper deals with near time-optimal path planning of differentially driven mobile robot in environments without obstacles. Well-known kinematic model and our dynamic model are presented. Acceleration constraints which satisfy non-skid movement of the robot are derived from our dynamic model. Our approach uses spline curves to describe the path and the problem is solved numerically in a way that the robot spends lowest time on the path. This paper deals with near time-optimal path planning of differentially driven mobile robot in environments without obstacles. Well-known kinematic model and our dynamic model are presented. Acceleration constraints which satisfy non-skid movement of the robot are derived from our dynamic model. Our approach uses spline curves to describe the path and the problem is solved numerically in a way that the robot spends lowest time on the path. This paper deals with near time-optimal path planning of differentially driven mobile robot in environments without obstacles. Well-known kinematic model and our dynamic model are presented. Acceleration constraints which satisfy non-skid movement of the robot are derived from our dynamic model. Our approach uses spline curves to describe the path and the problem is solved numerically in a way that the robot spends lowest time on the path.
dcterms:title
Generování časově optimální trajektorie pro mobilního robota s diferenciálním řízením Generování časově optimální trajektorie pro mobilního robota s diferenciálním řízením Time optimal trajectory generation of differentially driven mobile robot
skos:prefLabel
Generování časově optimální trajektorie pro mobilního robota s diferenciálním řízením Generování časově optimální trajektorie pro mobilního robota s diferenciálním řízením Time optimal trajectory generation of differentially driven mobile robot
skos:notation
RIV/00216305:26220/06:PU55095!RIV07-MSM-26220___
n3:strany
102-105
n3:aktivita
n18:P
n3:aktivity
P(1M0567)
n3:cisloPeriodika
2
n3:dodaniDat
n4:2007
n3:domaciTvurceVysledku
n12:6393837 n12:5642248
n3:druhVysledku
n7:J
n3:duvernostUdaju
n11:S
n3:entitaPredkladatele
n8:predkladatel
n3:idSjednocenehoVysledku
476840
n3:idVysledku
RIV/00216305:26220/06:PU55095
n3:jazykVysledku
n15:cze
n3:klicovaSlova
mobile robot, dynamic model, kynematic model, optimization, trajectory, path, splines
n3:klicoveSlovo
n6:splines n6:mobile%20robot n6:trajectory n6:optimization n6:path n6:kynematic%20model n6:dynamic%20model
n3:kodStatuVydavatele
SK - Slovenská republika
n3:kontrolniKodProRIV
[9AA601021237]
n3:nazevZdroje
AT&P Journal
n3:obor
n17:BC
n3:pocetDomacichTvurcuVysledku
2
n3:pocetTvurcuVysledku
2
n3:projekt
n13:1M0567
n3:rokUplatneniVysledku
n4:2006
n3:svazekPeriodika
2006
n3:tvurceVysledku
Gajdušek, Michal Šolc, František
s:issn
1335-2237
s:numberOfPages
4
n14:organizacniJednotka
26220