NDLI: Minimum-time grid coverage trajectory planning algorithm for mobile robots with battery voltage constraints

Content Provider	IEEE Xplore Digital Library
Author	Jae Sung Kim Byung Kook Kim
Copyright Year	2010
Description	Author affiliation: Department of Electrical Engineering, KAIST, Daejeon, Korea (Jae Sung Kim; Byung Kook Kim)
Abstract	Grid coverage trajectory planning is the trajectory determination that a robot must follow in order to pass over all the grid points in a given environment. Applications include de-mining, inspection, exploration, reconnaissance, etc. In this paper, a minimum-time grid coverage trajectory planning (GCTP) algorithm is proposed for two-wheeled mobile robots (TMRs) satisfying (i) initial and final postures and velocities as well as (ii) battery voltage constraints. First, we list various candidates of turning path and performed an analysis on the time consumption of candidates, which are generated by combinations of standard paths such as translational path (T), rotational path (composed of arcs and clothoids). We considered five turning path candidates: T, R, C-R-C, R-T-R, and C-R-T-R-C (R means rotational curve path to rotate clockwise, C means rotational curve path to rotate counter-clockwise), and suggested a minimum time turning trajectory planning algorithm with efficient iterative binary search algorithm. We performed various computer simulations to find the minimum-time grid coverage trajectory. Simulation results show that the C-R-T-R-C path is the most efficient planning algorithm, which enables wheeled mobile robot to reduce the grid coverage time up to 16%.
Starting Page	1712
Ending Page	1717
File Size	811015
Page Count	6
File Format	PDF
ISBN	9781424474530
e-ISBN	9788993215021
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-27
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	IEEE International Conference on Control & Automation
Subject Keyword	Trajectory planning Grid coverage Voltage constraints Turning Minimum-time control Trajectory Tunneling magnetoresistance Batteries Planning Mobile robots Mobile robot
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Minimum-time trajectory generation algorithm along curved paths for mobile robots with a motor control input constraint

Minimum-energy trajectory planning on a tangent for battery-powered three-wheeled omni-directional mobile robots

Minimum-energy translational trajectory planning for battery-powered three-wheeled omni-directional mobile robots

Implementation of joint space trajectory planning using RTO swith considering velocity constraints for mobile robots

Minimum-time trajectory planning for industrial robots with general torque constraints

Time-optimal cornering trajectory planning for differential-driven wheeled mobile robots with motor current and voltage constraints

Acquiring effective knowledge of environment geometry for minimum-time control of a mobile robot

Path planning algorithm to minimize an overlapped path and turning number for an underwater mining robot

Switching-time computation for time-optimal trajectory planning of wheeled mobile robots

Minimum-time grid coverage trajectory planning algorithm for mobile robots with battery voltage constraints

Similar Documents

Minimum-time trajectory generation algorithm along curved paths for mobile robots with a motor control input constraint

Minimum-energy trajectory planning on a tangent for battery-powered three-wheeled omni-directional mobile robots

Minimum-energy translational trajectory planning for battery-powered three-wheeled omni-directional mobile robots

Implementation of joint space trajectory planning using RTO swith considering velocity constraints for mobile robots

Minimum-time trajectory planning for industrial robots with general torque constraints

Time-optimal cornering trajectory planning for differential-driven wheeled mobile robots with motor current and voltage constraints

Acquiring effective knowledge of environment geometry for minimum-time control of a mobile robot

Path planning algorithm to minimize an overlapped path and turning number for an underwater mining robot

Switching-time computation for time-optimal trajectory planning of wheeled mobile robots

Minimum-time grid coverage trajectory planning algorithm for mobile robots with battery voltage constraints