DocumentCode
2757303
Title
Dynamic Trajectory Planning of a Spherical Mobile Robot
Author
Zhan, Qiang ; Zhou, Tingzhi ; Chen, Ming ; Cai, Sanlong
Author_Institution
Robot Res. Inst., Beijing Univ. of Aeronaut. & Astronaut.
fYear
2006
fDate
1-3 June 2006
Firstpage
1
Lastpage
6
Abstract
A spherical mobile robot, BHQ-1, designed for environment exploration, was briefly introduced. The dynamic model of BHQ-1 was established with a simplified Boltzmann-Hamel equation. From the dynamic model the expressions of the input moments of two motors to drive the robot are deduced when the robot moves along straight trajectory and circular trajectory separately. Simulation result of the robot to track a complex trajectory and experiments of the robot to avoid an obstacle show the trajectory planning method is effective
Keywords
collision avoidance; mobile robots; motion control; BHQ-1; environment exploration; obstacle avoidance; simplified Boltzmann-Hamel equation; spherical mobile robot; trajectory planning; Aerodynamics; Control systems; Equations; Friction; Gravity; Kinematics; Mobile robots; Motion analysis; Motion control; Trajectory; dynamic modelling; nonholonomic; spherical mobile robot; trajectory planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics, Automation and Mechatronics, 2006 IEEE Conference on
Conference_Location
Bangkok
Print_ISBN
1-4244-0024-4
Electronic_ISBN
1-4244-0025-2
Type
conf
DOI
10.1109/RAMECH.2006.252705
Filename
4018821
Link To Document